DARPA Technical Paper: Team Caltech
Team Caltech consists of over 50 undergraduates who have worked to conceive, design, build and optimize Alice, our entry in the 2005 DARPA Grand Challenge. Alice utilizes a highly networked control system architecture to provide high performance, autonomous driving in unknown environments. Innovations include a vehicle designed for testing and racing in harsh environments, a highly sensory-driven approach to fuse sensor data into speed maps used by real-time trajectory optimization algorithms, health and contingency management algorithms to manage failures at the component and system level, and a software logging and display environment that enables rapid assessment of performance during testing. ∗Address all correspondence to Richard M. Murray, murray@cds.caltech.edu