Springer Tracts in Advanced Robotics
Vo l u m e 5 6
Editors: Bruno Siciliano · Oussama Khatib · Frans Groen
Martin Buehler, Karl Iagnemma,
Sanjiv Singh (Eds.)
The DARPA Urban
Challenge
Autonomous Vehicles in City Traffic
ABC
Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Università di Napoli Federico II,
Via Claudio 21, 80125 Napoli, Italy, E-mail: siciliano@unina.it
Professor Oussama Khatib, Artificial Intelligence Laboratory, Department of Computer Science,
Stanford University, Stanford, CA 94305-9010, USA, E-mail: khatib@cs.stanford.edu
Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403,
1098 SJ Amsterdam, The Netherlands, E-mail: groen@science.uva.nl
Editors
Dr. Martin Buehler
iRobot Corporation
8 Crosby Drive, M/S 8-1
Bedford, MA 01730
USA
E-mail: mbuehler@irobot.com
Dr. Karl Iagnemma
Department of Mechanical Engineering
Massachusetts Institute of Technology
77 Massachusetts Avenue
Cambridge, MA 02139
USA
E-mail: kdi@mit.edu
Prof. Sanjiv Singh
Robotics Institute
Carnegie Mellon University
5000 Forbes Avenue
Pittsburgh, PA 15213
USA
E-mail: ssingh@ri.cmu.edu
ISBN 978-3-642-03990-4 e-ISBN 978-3-642-03991-1
DOI 10.1007/978-3-642-03991-1
Springer Tracts in Advanced Robotics ISSN 1610-7438
Library of Congress Control Number: 2009934347
c
2009 Springer-Verlag Berlin Heidelberg
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Editorial Advisory Board
Oliver Brock, TU Berlin, Germany
Herman Bruyninckx, KU Leuven, Belgium
Raja Chatila, LAAS, France
Henrik Christensen, Georgia Tech, USA
Peter Corke, CSIRO, Australia
Paolo Dario, Scuola S. Anna Pisa, Italy
Rüdiger Dillmann, Univ. Karlsruhe, Germany
Ken Goldberg, UC Berkeley, USA
John Hollerbach, Univ. Utah, USA
Makoto Kaneko, Osaka Univ., Japan
Lydia Kavraki, Rice Univ., USA
Vijay Kumar, Univ. Pennsylvania, USA
Sukhan Lee, Sungkyunkwan Univ., Korea
Frank Park, Seoul National Univ., Korea
Tim Salcudean, Univ. British Columbia, Canada
Roland Siegwart, ETH Zurich, Switzerland
Guarav Sukhatme, Univ. Southern California, USA
Sebastian Thrun, Stanford Univ., USA
Yangsheng Xu, Chinese Univ. Hong Kong, PRC
Shin’ichi Yuta, Tsukuba Univ., Japan
STAR (Springer Tracts in Advanced Robotics) has been promoted un-
der the auspices of EURON (European Robotics Research Network)
ROBOTICS
Research
Network
European
EURON
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