A Perception-Driven

Autonomous Urban Vehicle

John Leonard, Jonathan How, Seth Teller,

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Mitch Berger, Stefan Campbell, Gaston Fiore,

Luke Fletcher, Emilio Frazzoli, Albert Huang,

Sertac Karaman, Olivier Koch, Yoshiaki

Kuwata, David Moore, Edwin Olson,

Steve Peters, Justin Teo, Robert Truax,

and Matthew Walter

Massachusetts Institute of Technology

Cambridge, Massachusetts 02139

e-mail: jleonard@mit.edu

David Barrett, Alexander Epstein,

Keoni Maheloni, and Katy Moyer

Franklin W. Olin College

Needham, Massachusetts 02492

e-mail: david.barrett@olin.edu

Troy Jones and Ryan Buckley

Draper Laboratory

Cambridge, Massachusetts 02139

e-mail: tbjones@draper.com

Matthew Antone

BAE Systems Advanced Information

Technologies

Burlington, Massachusetts 01803

e-mail: matthew.antone@baesystems.com

Robert Galejs, Siddhartha Krishnamurthy,

and Jonathan Williams

MIT Lincoln Laboratory

Lexington, Massachusetts 02420

e-mail: galejs@ll.mit.edu

Received 10 February 2008; accepted 22 July 2008

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