Autonomous Driving in Urban

Environments: Boss and the

Urban Challenge

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Chris Urmson, Joshua Anhalt, Drew Bagnell,

Christopher Baker, Robert Bittner,

M. N. Clark, John Dolan, Dave Duggins,

Tugrul Galatali, Chris Geyer,

Michele Gittleman, Sam Harbaugh,

Martial Hebert, Thomas M. Howard,

Sascha Kolski, Alonzo Kelly,

Maxim Likhachev, Matt McNaughton,

Nick Miller, Kevin Peterson, Brian Pilnick,

Raj Rajkumar, Paul Rybski, Bryan Salesky,

Young-Woo Seo, Sanjiv Singh, Jarrod Snider,

Anthony Stentz, William “Red” Whittaker,

Ziv Wolkowicki, and Jason Ziglar

Carnegie Mellon University

Pittsburgh, Pennsylvania 15213

e-mail: curmson@ri.cmu.edu

Hong Bae, Thomas Brown, Daniel Demitrish,

Bakhtiar Litkouhi, Jim Nickolaou,

Varsha Sadekar, and Wende Zhang

General Motors Research and Development

Warren, Michigan 48090

Joshua Struble and Michael Taylor

Caterpillar, Inc.

Peoria, Illinois 61656

Michael Darms

Continental AG

Auburn Hills, Michigan 48326

Dave Ferguson

Intel Research

Pittsburgh, Pennsylvania 15213

Received 22 February 2008; accepted 19 June 2008

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