On to the Race
With the National Qualifier teams announced, the die is cast for the 2007 Urban Challenge. When we arrive in Victorville Boss will be sporting #19, the same number Sandstorm wore when it finished the 2005 Grand Challenge. We have started an intense period where we will close out development and focus on polishing and testing the vehicles for the qualifiers and race. As a first step we took Boss out to the BeaveRun race track to perform an endurance test. Boss completed over 20 miles of testing on a winding go cart track. Thanks to the great folks at BeaveRun for giving us the track time.
76 days to the race
Carnegie Mellon Team Named Semifinalist in DARPA Urban Challenge
Tartan Racing Among 36 Teams Invited to National Qualification Event in October
PITTSBURGH - Carnegie Mellon University's Tartan Racing team is one of 36 contenders that advanced today toward a spot in the DARPA Urban Challenge, a $2 million robotic vehicle race that will take place Nov. 3 at an urban military training facility in Victorville, Calif.
Semi-Finalists to be announced TODAY - 1:45 PM EasternToday DARPA will announce the 30 semi-finalists moving on to the qualifiers in October. We will also learn the location of that event, as well as the location for the final competition on November 3rd. Details for to tune in to the live webcast of the announcement are:
If you haven't already marked your calendars, here's a recap of the dates of events:
Thanks to all of you for your continued support.
Tartan Racing DARPA Site VisitBoss performed exactly as planned during our DARPA site visit on Monday. For those of you who missed the live action, here are some highlights:
It was great to see so many of you at the event!
Best regards from Robot City,
Press Release: Carnegie Mellon’s Tartan Racing Team Vies for Spot in Urban Challenge
Press Release: Boss Tackles Streets and Parking Lots
Boss Tan ArrivesOur second robot arrived at the Desert Proving Grounds today. Boss (Tan) spent the last month being outfitted with various automotive sensors and a new Continental brake-by-wire system. We're excited to have him back, and looking forward to seeing the two robots operating together in the Arizona Sun.
Boss ArrivesBoss arrived today and quickly became at home in our new shop. Most of the morning was spent setting up the shop and our computer network. After completing a site orientation, several team members completed an advanced driver training course where we got to practice skidding and high-speed lane changes, while others got back to work.
Arizona Field ReportThe first wave of the field team arrived safely today. We had an opportunity to checkout the building which will be our base of operations at the proving grounds. It looks great. We've got plenty of room for the robots, our equipment and for people to work. Tomorrow we'll go through driver training, orientation and setup the shop.
Headin' WestBoss is on its way west. The robot and our shop are packed up and loaded on a tractor trailer for the trip to the GM Desert Proving Grounds. The truck will meet it in Mesa on Friday and then we'll spend the next two months developing and testing in the temperate Arizona winter.
Boss Dodging ConesTonight we caught video of Boss weaving through cones on a test course. The driving was smooth and fast. Enjoy the video below. This will be the last winter weather Boss experiences for a while since tomorrow morning it departs for two-months of testing in Arizona.
Boss Takes a RideTuesday was Boss' coming out event. On a wintry Pittsburgh afternoon we were joined by sponsors, friends and the media in watching Boss gracefully handle intersections and navigate a road course at speeds up to 20 mph. The event was covered by three Pittsburgh TV stations and both papers (Pittsburgh Tribune-Review and the Pittsburgh Post Gazette)
Thanks to our many sponsors and friends who took time to visit with the team prior to our departure for Arizona. It was a blast.
More Intersection Testingable to deal with drivers not waiting for their turn and is more robust to the current limitations of our perception system. See some of the testing below.
See Boss drive live on Tuesday!
Meet The "Boss"
Carnegie Mellon's Tartan Racing Team Unveils Self-Driving Vehicle
TARTAN RACING OPEN HOUSE: Carnegie Mellon's Tartan Racing team will unveil Boss, the modified Chevy Tahoe that will be its entry in this fall's DARPA Urban Challenge, during an open house from 2:30 to 4:30 p.m. Tuesday Jan. 23.
Team members will demonstrate Boss' autonomous driving capabilities and will be happy to answer questions and discuss their plans for the Urban Challenge.
The Urban Challenge, set for Nov. 3, 2007, at an as-yet-undisclosed site in the western U.S., will pit self-driving vehicles against each other on a course that simulates an urban environment. The Defense Advanced Research Projects Agency (DARPA) will award $2 million to the first team to complete the challenge, encompassing about 60 miles of driving, in six hours or less.
WHEN: 2:30 - 4:30 p.m. Tuesday, Jan. 23, 2007.
WHERE: The Roundhouse at Robot City, located on the former LTV site in Hazelwood. Tartan Racing is headquartered in the roundhouse and tests its vehicles on a portion of the LTV site.
Directions: (or Google: 4170 2nd Ave Pittsburgh, PA 15207)
From Downtown, head south on Second Avenue or, from Oakland, take Bates Street to Second Avenue and turn left. Follow Second Avenue past Hot Metal Bridge and, before taking a sharp left to follow the street through an underpass, continue straight to enter the former LTV site. At the first building, which has a sign for "Damian Hantz, locomotive repair," turn through the gate to the left of the building and continue towards the left. Follow the road down the hill, and take the second right turn at the bottom of the hill. Park on this section of road and walk along road toward the city skyline to roundhouse; entrance to Tartan Racing is on the right side of the roundhouse.
3-Way IntersectionEarly this morning Boss successfully navigated a 3-way intersection for the first time. The robot yielded to other vehicles as appropriate, and took right of way when it was first to arrive. This accomplishment represents a huge step in the integration of our perception, planning and behavior software.
Multi-Vehicle BehaviorsWe have graduated from waypoint following to simulated multi-vehicle behaviors. The attached videos show both intersection and distance keeping running in simulation. Both of these behaviors have been tested on a physical robot with simulated perception. The videos are sped up 8 times.
Computing ClusterRobot City now has a computing cluster thanks to a generous donation from Intel. Thank you Intel. The cluster is consists of a number of Core2Duo laptops and will be used by the team for testing and development on the Urban Challenge and other projects.
Multi-Checkpoint MissionWe crossed a major milestone this week with the first completion of a multi-checkpoint mission. The late night video captures our Tahoe running a mission around the robot city test site. Enjoy the driving and the night time Pittsburgh skyline.
We also completed fabrication and testing of a board we will use to synchronize our computers to one another and GPS time. Synchronization is key to reconstructing the world from the numerous sensors we'll incorporate on the robot.
We're closing another exciting week. Our second robot arrived from GM. The workmanship is again excellent, and we're excited to finish building it up and to get it out on the test course. We also made our first steps in integrating road driving behaviors with our navigation software. The video shows our robot waiting (in simulation) for an intersection to clear before crossing traffic. An important first step with less than a year to go.
10 Mile Endurance TestYesterday the robot completed its first 50 mile endurance test running with the complete planning system, and simulated perception. We achieved a top speed of 28mph. The only glitch was a memory leak which, at 36 miles, forced the restart of a process. The problem has already been identified and a software fix is already in the pipes. A video of the run shown below.
KickoffOur kick-off meeting marked our largest team gathering to date. Visitors from General Motors, Caterpillar, Continental, Applanix and Darpa made the day great.
50 Mile Reliability TestYesterday evening our robot completed a 50 mile reliability test, waypoint following around the robot city site at speeds up to 25 mph. The test helped validate the reliability of the mechanical, electrical and software infrastructure. The repeatability of the state-estimation and control are clearly visible in the last picture.
First StepsToday our Tan Tahoe took its first autonomous steps, waypoint following for more than a mile on a soggy Pittsburgh track. Game on.