{"id":"https://openalex.org/W2408243243","doi":"https://doi.org/10.1002/rob.20253","title":"Team Cornell's Skynet: Robust perception and planning in an urban environment","display_name":"Team Cornell's Skynet: Robust perception and planning in an urban environment","publication_year":2008,"publication_date":"2008-07-23","ids":{"openalex":"https://openalex.org/W2408243243","doi":"https://doi.org/10.1002/rob.20253","mag":"2408243243"},"language":"en","primary_location":{"id":"doi:10.1002/rob.20253","doi":"https://doi.org/10.1002/rob.20253","is_oa":true,"landing_page_url":"https://doi.org/10.1002/rob.20253","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rob.20253","source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-2","norway-1","poland-140","russia-white-list-1"],"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rob.20253","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034439549","display_name":"Isaac Miller","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Isaac Miller","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087789612","display_name":"Mark Campbell","orcid":"https://orcid.org/0000-0003-0775-4297","observed_orcids":["https://orcid.org/0000-0003-0775-4297"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Mark Campbell","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111936847","display_name":"D.P. Huttenlocher","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Dan Huttenlocher","raw_affiliation_strings":["Computer Science Department"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Frank\u2010Robert Kline","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Frank\u2010Robert Kline","raw_affiliation_strings":["Computer Science Department"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002621879","display_name":"Aaron Nathan","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Aaron Nathan","raw_affiliation_strings":["School of Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062093048","display_name":"Sergei Lupashin","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Sergei Lupashin","raw_affiliation_strings":["School of Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091397015","display_name":"Jason Catlin","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jason Catlin","raw_affiliation_strings":["School of Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010011489","display_name":"Brian Schimpf","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Brian Schimpf","raw_affiliation_strings":["School of Operations Research and Information Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Operations Research and Information Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086541536","display_name":"Pete Moran","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pete Moran","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059933201","display_name":"Noah C. Zych","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Noah Zych","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111739639","display_name":"Ephrahim Garcia","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ephrahim Garcia","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036269567","display_name":"Mike Kurdziel","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mike Kurdziel","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008774696","display_name":"Hikaru Fujishima","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hikaru Fujishima","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5002621879","https://openalex.org/A5008774696","https://openalex.org/A5010011489","https://openalex.org/A5034439549","https://openalex.org/A5036269567","https://openalex.org/A5059933201","https://openalex.org/A5062093048","https://openalex.org/A5086541536","https://openalex.org/A5087789612","https://openalex.org/A5091397015","https://openalex.org/A5111739639","https://openalex.org/A5111936847"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":{"value":3590,"currency":"USD","value_usd":3590},"apc_paid":null,"fwci":19.3453,"has_fulltext":true,"cited_by_count":116,"citation_normalized_percentile":{"value":0.9906853,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":87,"max":100},"biblio":{"volume":"25","issue":"8","first_page":"493","last_page":"527"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9878000020980835,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9878000020980835,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.006099999882280827,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.0017000000225380063,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autonomous-vehicles","display_name":"autonomous vehicles","score":0.9049999713897705},{"id":"https://openalex.org/keywords/darpa-urban-challenge","display_name":"DARPA Urban Challenge","score":0.9430000185966492},{"id":"https://openalex.org/keywords/skynet","display_name":"SKYNET","score":0.6370000243186951},{"id":"https://openalex.org/keywords/camera-based-perception","display_name":"camera-based perception","score":0.6610000133514404},{"id":"https://openalex.org/keywords/attitude-and-position-estimation","display_name":"attitude and position estimation","score":0.9200000166893005},{"id":"https://openalex.org/keywords/path-planning","display_name":"path planning","score":0.8730000257492065},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"nonlinear programming","score":0.902999997138977},{"id":"https://openalex.org/keywords/traffic-law-compliance","display_name":"traffic rule compliance","score":0.8600000143051147},{"id":"https://openalex.org/keywords/urban-driving","display_name":"urban driving","score":0.6890000104904175}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6561990976333618},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5758700966835022},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5582460761070251},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5347698330879211},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4910743236541748},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4697810709476471},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4453229308128357},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3567586839199066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35576701164245605},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.316560298204422},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11161094903945923},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07976338267326355},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1002/rob.20253","doi":"https://doi.org/10.1002/rob.20253","is_oa":true,"landing_page_url":"https://doi.org/10.1002/rob.20253","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rob.20253","source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-2","norway-1","poland-140","russia-white-list-1"],"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.375.6934","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.375.6934","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-personal.acfr.usyd.edu.au/spns/motion/CornelSkynet.pdf","raw_type":"text"},{"id":"mag:3155293116","doi":null,"is_oa":false,"landing_page_url":"https://dl.acm.org/doi/10.5555/1395073.1395076","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-2","norway-1","poland-140","russia-white-list-1"],"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"Journal of Field Robotics","raw_type":null}],"best_oa_location":{"id":"doi:10.1002/rob.20253","doi":"https://doi.org/10.1002/rob.20253","is_oa":true,"landing_page_url":"https://doi.org/10.1002/rob.20253","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rob.20253","source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-2","norway-1","poland-140","russia-white-list-1"],"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7646999955177307,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2408243243.pdf","grobid_xml":"https://content.openalex.org/works/W2408243243.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W11255477","https://openalex.org/W1531532259","https://openalex.org/W1650765400","https://openalex.org/W1964860276","https://openalex.org/W1974531087","https://openalex.org/W1999478155","https://openalex.org/W2020934227","https://openalex.org/W2026380445","https://openalex.org/W2075024563","https://openalex.org/W2085245641","https://openalex.org/W2100173109","https://openalex.org/W2119486063","https://openalex.org/W2122410182","https://openalex.org/W2126828821","https://openalex.org/W2160337655","https://openalex.org/W2169667264","https://openalex.org/W3083195515","https://openalex.org/W3142519342","https://openalex.org/W4205428221","https://openalex.org/W4210274491","https://openalex.org/W4237092847","https://openalex.org/W4299825255"],"related_works":["https://openalex.org/W2404189583","https://openalex.org/W6921966119","https://openalex.org/W2075816988","https://openalex.org/W7098719479","https://openalex.org/W2119869242","https://openalex.org/W6884729086","https://openalex.org/W2159021170","https://openalex.org/W2147993981","https://openalex.org/W2760981468","https://openalex.org/W2110006698"],"abstract_inverted_index":{"Abstract":[0],"Team":[1],"Cornell's":[2],"Skynet":[3,18],"is":[4],"an":[5],"autonomous":[6],"Chevrolet":[7],"Tahoe":[8],"built":[9],"to":[10,115],"compete":[11],"in":[12,82,90],"the":[13,86,91,96,103,108,117],"2007":[14],"DARPA":[15],"Urban":[16,97,109],"Challenge.":[17,98],"consists":[19],"of":[20],"many":[21],"unique":[22],"subsystems,":[23],"including":[24],"actuation":[25],"and":[26,35,42,63,68,95,107,113],"power":[27],"distribution":[28],"designed":[29],"in\u2010house,":[30],"a":[31,38,45,55,64,69],"tightly":[32],"coupled":[33],"attitude":[34],"position":[36,49],"estimator,":[37],"novel":[39],"obstacle":[40],"detection":[41,53],"tracking":[43],"system,":[44],"system":[46],"for":[47,73],"augmenting":[48],"estimates":[50],"with":[51],"vision\u2010based":[52],"algorithms,":[54],"path":[56],"planner":[57],"based":[58],"on":[59],"physical":[60],"vehicle":[61],"constraints":[62],"nonlinear":[65],"optimization":[66],"routine,":[67],"state\u2010based":[70],"reasoning":[71],"agent":[72],"obeying":[74],"traffic":[75],"laws.":[76],"This":[77],"paper":[78],"describes":[79],"these":[80],"subsystems":[81],"detail":[83],"before":[84],"discussing":[85],"system's":[87,118],"overall":[88],"performance":[89],"National":[92,104],"Qualifying":[93,105],"Event":[94,106],"Logged":[99],"data":[100],"recorded":[101],"at":[102],"Challenge":[110],"are":[111],"presented":[112],"used":[114],"analyze":[116],"performance.":[119],"\u00a9":[120],"2008":[121],"Wiley":[122],"Periodicals,":[123],"Inc.":[124]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":18},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":5}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2016-06-24T00:00:00"}