Brian Schimpf

Brian Schimpf

Orange County, California, United States
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  • Team Cornell's Skynet: Robust perception and planning in an urban environment

    Journal of Field Robotics

    Team Cornell’s ‘Skynet’ is an autonomous Chevrolet Tahoe built to compete in the 2007 DARPA Urban Challenge. Skynet consists of many unique subsystems, including actuation and power distribution designed in-house, a tightly-coupled attitude and position estimator, a novel obstacle detection and tracking system, a system for augmenting position estimates with vision-based detection algorithms, a path planner based on physical vehicle constraints and a nonlinear optimization routine, and a…

    Team Cornell’s ‘Skynet’ is an autonomous Chevrolet Tahoe built to compete in the 2007 DARPA Urban Challenge. Skynet consists of many unique subsystems, including actuation and power distribution designed in-house, a tightly-coupled attitude and position estimator, a novel obstacle detection and tracking system, a system for augmenting position estimates with vision-based detection algorithms, a path planner based on physical vehicle constraints and a nonlinear optimization routine, and a state-based reasoning agent for obeying traffic laws. This paper describes these subsystems in detail, before discussing the system’s overall performance in the National Qualifying Event and the Urban Challenge. Logged data recorded at the National Qualifying Event and the Urban Challenge are presented and used to analyze the system’s performance.

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