CajunBot swMATH ID: 1931 Software Authors: Lakhotia, Arun; Golconda, Suresh; Maida, Anthony; Mejia, Pablo; Puntambeker, Amit; Seetharaman, Guna; Wilson, Scott Description: CajunBot: Architecture and algorithms CajunBot, an autonomous ground vehicle and a finalist in the 2005 DARPA Grand Challenge, is built on the chassis of MAX IV, a six-wheeled all-terrain vehicle (ATV). Transformation of the ATV to an autonomous ground vehicle required adding drive-by-wire control, lidar sensors, an inertial navigation system (INS), and a computing system. Significant innovations in the core computational algorithms include an obstacle detection algorithm that takes advantage of shocks and bumps to improve visibility; a path planning algorithm that takes into account the vehicle’s maneuverability limits to generate paths that are navigable at high speed; efficient data structures and algorithms that require just a single Intel Pentium 4 HT 3.2 GHz machine to handle all computations and a middleware layer that transparently distributes the computation to multiple machines, if desired. In addition, CajunBot also features support technologies, such as a simulator, playback of logged data, and live visualization on off-board computers to aid in development, testing, and debugging. Homepage: http://www.cajunbot.com/ Operating Systems: operating-systems Dependencies: dependencies Related Software: GAZEBO Cited in: 1 Publication Standard Articles 1 Publication describing the Software, including 1 Publication in zbMATH Year CajunBot: Architecture and algorithms. Zbl 1113.70306Lakhotia, Arun; Golconda, Suresh; Maida, Anthony; Mejia, Pablo; Puntambeker, Amit; Seetharaman, Guna; Wilson, Scott 2006 all top 5 Cited by 7 Authors 1 Golconda, Suresh 1 Lakhotia, Arun 1 Maida, Anthony S. 1 Mejia, Pablo 1 Puntambeker, Amit 1 Seetharaman, Guna 1 Wilson, Scott O. Cited in 1 Serial 1 Journal of Field Robotics Cited in 2 Fields 1 Computer science (68-XX) 1 Mechanics of particles and systems (70-XX) Citations by Year