This report presents the results of a research effort undertaken by the Carnegie Mellon
University Robotics Institute and the University of California PATH Program under
funding provided by the Federal Transit Administration under Federal ID #
250969449000. The direction of Brian Cronin is gratefully acknowledged.
Special thanks are also due to the state transportation agencies for providing additional
funding and contractual assistance. Specifically, the California Department of
Transportation (Caltrans) and the Pennsylvania Department of Transportation
(PennDOT) were instrumental in the progress of this work.
Also this work would not have been possible without the cooperation of the local transit
agencies. Specifically, the Port Authority of Allegheny County (PAT) and the San Mateo
County Transit District (Samtrans)
We would also like to acknowledge the work of Clever Devices. We have learned a lot
and hopefully applied the lessons learned from their work of designing and installing
their obstacle detection systems on transit buses.
The feedback of Eric Traube of Mitretek has also been very beneficial to the effort of this
research and evaluation program.
