Urban Challenge Participants Conference FINAL

Welcome to the
Urban Challenge
Participants Conference
Approved for Public Release, Distribution Unlimited, DARPA Approval 7279, 19 May 06
Agenda
1130 – 1145 Welcome Dr. Tony Tether
DARPA Director
1145 – 1200 Grand Challenge 2005 Mr. Ron Kurjanowicz

DGC05 Program Manager
1200 – 1315 Program Plan Dr. Norm Whitaker

Urban Challenge Program Manager
Ms. Kristen Fuller
DARPA Contracts Officer
1315 – 1330 Break
1330 – 1400 Rules Dr. Norm Whitaker
1400 – 1430 Questions
What is DARPA?
The Defense Advanced Research Projects Agency is the
central R&D arm of the Department of Defense
with the primary responsibility
to conceive, explore, and demonstrate
breakthrough system concepts and
the most advanced technologies.
DARPA Grand Challenge
DGC I 142 miles

Barstow to Primm 10 hours
March 13, 2004 $1M
DGC II 132 miles

10 hours
Desert Classic
$2M
October 8, 2005
DGC III 60 miles

Urban Challenge 6 hours
November 3, 2007
$2.75M
On-Site Conference Participation
6 13 13
6 19
11
2 3 10
4 3 4 4
36 3 46
7
10
3 6
Canada 11 9
Germany 7
United Kingdom
Representatives from 29 states

Grand Challenge 05
City to City Driving
• Terrain
– Desert
Kirkuk
– Flat
– Mountainous
Baghdad
• Obstacles
– Bridges Al Kut
– Underpasses
– Debris
Typical distances:
– Paved roadways Basra
– Poor roadways 100 -150 miles
160 miles
– Other Vehicles 100 km
Aid
Station
HQ
Airport
60 Mile Supply Mission

Through the City
Urban Challenge
City Driving
• Obey traffic laws
• Safe entry into traffic flow
• Safe passage through busy
intersections
• Safe following or passage of
moving vehicles
• Safe passage of a stopped
vehicle
• Drive an alternate route when
the primary route is blocked
• Safe U-turn
Prizes & Tracks A & B
Challenge: Complete 60 miles in traffic under 6 hours
• Prizes
– First Place: $ 2,000,000
– Second: $ 500,000
– Third: $ 250,000
Track A: Submit proposal to Broad Agency Announcement. Best compliant proposals

receive up to $1 million technology development funds. Program ends at end of
NQE. Successful performers invited to compete for Urban Challenge top three prizes.
Track B: Submit application, send video, get selected for DARPA site visit. Teams that
succeed at the site visit receive $50,000 to participate in National Qualification Event
(NQE). Teams that succeed at NQE receive $100,000 to participate in final event and
compete for Urban Challenge top three prizes.
DARPA’s Prize Authority
• 1999 - Today:
The Secretary of Defense, acting through the Director of the

Defense Advanced Research Projects Agency, may carry out
a program to award cash prizes in recognition of outstanding
achievements in basic, advanced, and applied research,
technology development, and prototype development that
have the potential for application to the performance of the
military missions of the Department of Defense.
• Expires September 30, 2007 (End of Fiscal Year 2007)
• New legislation sought to extend authority past FY 2007

Prize Authority Legislation
House Senate
Armed Services Committee Armed Services Committee
House Bill extends Bill extends prize authority

DARPA’s prize to FY2011, but removes
authority to FY2010. DARPA and adds other
DoD organizations
No other changes
House voted and Bill not official yet.

approved bill Awaiting Senate vote;
expected by July 4
House – Senate
Conference
Senate’s Proposed Revision to
Existing Prize Authority Law
• 1999 - Today:
The Secretary of Defense, acting through the Director of the

Defense Advanced Research Projects Agency, may carry out
a program to award cash prizes in recognition of outstanding
achievements in basic, advanced, and applied research,
technology development, and prototype development that
have the potential for application to the performance of the
military missions of the Department of Defense.
• Senate Armed Services Committee Proposed Change:
The Secretary of Defense, acting through the Director of

Defense Research & Engineering and the Service Acquisition
Executives of the military departments may carry
out programs to award cash prizes……..
Impact on Urban Challenge
if Proposed Revision Becomes Law
• Prizes
– First Place: $ 2,000,000
– Second:
– Third: X
$ 500,000
$ 250,000
Track A: Submit proposal to Broad Agency Announcement. Best compliant proposals

receive up to $1 million technology development funds. Program ends at end of
NQE. Successful performers invited to compete for Urban Challenge top three prizes.
Track B: Submit application, send video, get selected for DARPA site visit. Teams that
X
succeed at the site visit receive $50,000 to participate in National Qualification Event
(NQE). Teams that succeed at NQE receive $100,000 to participate in final event andX
compete for Urban Challenge top three prizes.
Urban Challenge will be held, but DARPA will not have

authority to award cash prizes.
Grand Challenge 2005
195 Applicants
February 2005
Team Geochelone
Team Arctic Tortoise New york, NY
Fairbanks, AK Autonomous
Ingenuity
Planet Explorer
A.I. Motorvators Rochester, NY
Renton, WA
Axion Racing Team Sleipner
Calculated RISC AV Andrea Morgan Team Ruamyarti Two Much Trouble
The Golem Group/ UCLA Sequim, WA
Fitchburg, WI AV Sydney Bristow Queens Village, NY (T.M.T.)
Team SARA University of Washington The Prodigies
Team TerraMax AV Wendy Darling Team LoGHIQ North Berwick, ME
Go Baja Oshkosh, WI Traverse City, MI Walden, NY Team Manticore - MIT
Seattle, WA Olympia, WA Cambridge, MA
Team Riàdeil Team Go It Alone Sakoryat T3SEA
Vista Engineering Relentless
Out-of-Knowhere Team Visionary Endeavor Oak Park, MI Cortland, NY
Carson, WA Winchester, MA
Team Symcas Appleton, WI Team CrossLand G-CART@RIT
Oregon WAVE Allied Forces Dakota Robotics AppIntellect
Team AION Rochester, NY
Issaquah, WA Intelligent Vehicle Fargo, ND Intelligent Vehicle Safety Haslett, MI Bellingham, MA
Corvallis, OR Team Buffalo
Thortech Cyber Nav Safety Technologies I Technologies II IQ (Intelligent Quad) Team UMass Dartmouth
Team Mark Antonelli Indy Robot Racing Team Lockport, NY
Bothell, WA Littleton, CO Apple Valley, MN Dartmouth, Ma
Palos Verdes HS Road Cakewalk GRASP Laboratory,
Roboway Utah Robotics Team Wellington
Warriors AVEngineers Blue Team Mercer Isalnd, WA Kaysville, UT Indianapolis, IN University of COPERNICUS Team Excelsior
Danville, IL
Team OCCAM Arcadia, CA Berkeley, CA Team ET Pennsylvania Larchmont, NY Severna Park, MD
BR Mobility Team Levin
Team RoboShack sapper Standford Racing Kokomo, IN Philadelphia,Team
PA Cornell II oxOxo
Murray, UT Highland Park, IL
Unmanned Vehicles Paradise, CA Team Team Cornell
Team Juggarnaut Team Fast Forward Robotic Navigation Red Team
Annapolis, MD
International Junk yard dogsStanford, CA Greenwood, IN Ithaca, NY Omnitech
Sandy, UT Chicago, IL Red Team Too
Cobalt Horizons Salinas, CA Team Aggie Spirit The Challengers Atlas Offroad Queenstown, MD
FutureNowa Team MTR Rising Sun, IN Pittsburgh, PA
CyberRider (UC Davis) Autobots BJB Engineering New Haven, CTVirginia Tech
Provo, UT Libertyville, IL Desert Buckeyes
SciAutonics/Auburn Davis, CA Mojávaton Lincoln, NE Inginouity Willoughby Hills, OH Highlander RacingVirginia Tech Team
Columbus, OH
Engineering Team Cal Poly Grand Junction, CO Kansas City, MO Team Jefferson Monroe, NJ
Cjase Rocky
Team Caltech Ben Lomond, CA Team Phantasm Crozet, VA Princeton University
Team ZingerBot Bearcats Blacksburg, VA
TeamDesignatedDriver Team DAD Ballwin, MO Team CART Princeton, NJ
Team White Cougar Colorado Springs, CO Cincinnati, OH Team ENSCO
Rogue Morgan Hill, CA the Las Vegas Gamblers Spirit of St. Louis Bluefield, WV AutoTrek
Team Wedge Springfield, VA
COGNAV Fenton, MO Wooster, OH Team Greene Moorestown, NJ
Las Vegas, NV
LIPS_MALIBU I to the Future Smooth Operator Milton, WV Desert Arrow
The A Team Team Robo Knight
Team Auto-Triad Lunatic Fringe Team Nomad Kingman, AZ StoneWalker Cape Girardeau, MO South Lebanon, OH Insight Racing Manassas, VA
S Sunnyvale, CA Ridgecrest, CA Albuquerque, NM OK Rover Team George Cary, NC The MITRE Meteorites
Intelligent Machines
Team Robot Monster Team Overbot Team Texas Tech Broken Arrow, OK Knoxville, TN McLean, VA
K1 Lubbock, TX TeamNOVA Team-Possible Stockbrige High School
Team Improbability Redwood City, CA Seymour, TN Stockbridge, GA Hepner Robotics
True Vision Phoenix, AZ Austin Robot Chickasha,
Technology OK
Team Banzai Team UTC Day Star Edinburg, VA
Atascadero, CA Austin, TX Newbies
Alphalogix Alphaworks “R” Junk Works Chattanooga, TN Mc Caysville, GA
Rob Meyer Productions Mobile Autonomous robotics Intrepid Fort Gordon, GA New Team (160)
Null Set Lancaster, CA Society Birminigham, AL Team GA
the Simf enterprise Autonomx
KNetX San Antonio, TX Trobo Lyons, GA
UCLA/HUJ Quartz Hill, CA
Tucson, AZ
MonsterMoto Team 2015
2004 applicant (35)
Petal, MS CIMAR
Team Tormenta Herbie Goes! Cedar Park, TX Team CajunBot Jacksonville, FL Gainesville, FL
UCI DARPA Grand Escondido, CA Armadillo-Bot Lafayette, LA Spurrier’s Hurriers
GP Machine Intelligence Team UCF
Challenge Team Bryan, TX Gray Team Mary Esther, FL
San Marcos, CA Orlando, FL
Team Philo Pegasus Metairie
Team Underdawg RAV LLC
Servic Machines College Station Green Wave
San Jose, CA New Orleans, LA Rust Bucket Racing Oviedo, FL
Team Alice Patriot Robotics McNeelly
Autonomous Vehicle Team Grand Challenger Temple Terrace, FL
Hollyware Optical Taylor, TX Port Saint Lucie, FL
Systems Rabid Ape Robotics TEAM LONG SHOT
Technology v1 Texas DARPA Challenge
Houston, TX St. Petersburg, FL
Los Angeles Area, CA Simple Solutions Inclusive Conroe, TX
TouchTech Team Simple Genius
San Diego, CA Humble, TX Not Shown: Autonosys, West Coast Robotics and UBC-
D2
Honolulu, HI Easy Does It CERM3 Team Thunderbird – Canada,
Ventura, CA
Mojave Lions
Cerritos, CA
Teams from 36 states Grand Challenge New Zealand, Dotmobil Team –France
Terra Engineering 3 High Schools / 35 Universities

Rancho Palos Verdes, CA
Site Visits
Test Course
• 8 meters wide
• 200 meters long
• 11 gates
• Obstacles
The Grand Challenge
43 Semifinalists
Autonosys
Ottawa, Canada
Oregon WAVE
Corvallis, OR BJB Engineering Red Team
Willoughby Hills, OH
Red Team Too
Pittsburgh, PA
Team TerraMax Team Cornell
Oshkosh, WI Ithaca, NY
Team Juggernaut Princeton University
Team Overbot Sandy, UT
Redwood City, CA Blue Team Intelligent Vehicle Desert Buckeyes Princeton, NJ
Team DAD Berkeley, CA Safety Technologies I Columbus, OH
The MITRE Meteorites
Morgan Hill, CA Littleton, CO Indy Robot Racing McLean, VA
Team
Team Underdawg Stanford Racing Team Indianapolis, IN Team ENSCO
San Jose, CA Stanford, CA Springfield, VA
Indiana Robotic Virginia Tech
A.I. Motorvators Team Rocky Team Jefferson
Navigation
Axion Racing Mojávaton Greenwood, IN
Blacksburg, VA Crozet, VA
Team AION Grand Junction, CO Virginia Tech
CyberRider Blacksburg, VA
SciAutonics/Auburn Autonomous Vehicle Systems
San Diego, CA
Gray Team Insight Racing
Engineering Metairie, LA Cary, NC
Team Caltech
Team Banzai Team CajunBot CIMAR
Team Tormenta MonsterMoto Lafayette, LA Gainesville, FL
Terra Engineering Cedar Park, TX
The Golem Group/ UCLA Team UCF
Palos Verdes HS Road Austin Robot Orlando, FL
Warriors Technology
Los Angeles Area, CA Austin, TX
43 teams from 15 states

2004 Grand Challenge Team
1 high school team / 17 university teams 2005 Grand Challenge New Entry
National Qualification Event
California Speedway,
Ontario California
September 27 – October 5, 2005
H1ghlander
September 19, 2005
7 days before National Qualification Event

National Qualification Event Track
40
# = Speed Limit 10
15
Speed Speed Section
Taper
Mountain 40
Pass
Berms and Hill
5 Rough 90° Power 1 Car Power Foliage
Road Turns Poles Passing Poles Tunnel
Zone 5 10
15 5 10
30 5 10
15
25 Start 10 10
Car
Sharp 5 10 5
2 Car Speed Gate near
Turns Passing Tank Finish Line path
Zone Bumps Trap
5 Length: 2.2 - 2.7 Miles
Start Chute Tunnel Tank Trap

23 Grand Challenge 2005 Finalists
Axion Racing Desert Buckeyes The MITRE SciAutonics/
Westlake Columbus, OH Meteorites Auburn Engineering
Village, CA McLean, VA Thousand Oaks, CA
Team CajunBot Team ENSCO

Lafayette, LA Springfield, VA MonsterMoto
Cedar Park, TX Stanford Racing Team
Stanford, CA
Team Caltech The Golem Group/

Pasadena, CA UCLA Mojávaton
Santa Monica, CA Grand
Junction,
CO Team TerraMax
Oshkosh, WI
CIMAR
Gray Team Princeton
Gainesville, FL
Metairie, LA University
Princeton, New
Jersey Virginia Tech
Team Rocky
Blacksburg, VA
Team Cornell
Insight Racing
Ithaca, NY Red Team
Cary, NC
Pittsburgh, PA
Virginia Tech
Team DAD Intelligent Vehicle Grand
Red Team Too
(Digital Auto Drive) Safety Challenge
Pittsburgh, PA
Morgan Hill, CA Technologies I Team
Littleton, CO Blacksburg, VA
Start Line October 8, 2005 - 6:40 AM
Primm,
Nevada
Command Operations Center
The Course
Narrow Underpass Long Tunnels
Lake Beds Narrow Gates
Rough Roads Close Obstacles
131.6 mi
Start/Finish
Beer Bottle Pass – Mile 123
Grand Challenge Video
2005 Grand Challenge Results
2004 Distance
Stanley
Vehicle Stanley
Team Stanford Racing Team
Hometown Palo Alto, California
Team Leader Michael Montemerlo
Finishing time 6h 53m (19.2 mph)
Sandstorm
Vehicle Sandstorm
Team Red Team
Hometown Pittsburgh, Pennsylvania
Team Leader Red Whittaker
H1ghlander
Vehicle H1ghlander
Team Red Team Too
Hometown Pittsburgh, Pennsylvania
Team Leader Kevin Peterson
KAT-5
Vehicle KAT-5
Team Gray Team
Hometown Metairie, Louisiana
Team Leader Eric Gray
TerraMax
Vehicle TerraMax
Team Team TerraMax
Hometown Oshkosh, Wisconsin
Team Leader Jim Fravert
Living on the Edge
Program Plan
Program Objective
Safe autonomous driving in traffic
• Safe
No collisions
• Capable
Turns, stops, intersection,
passing, merging, parking,
following
• Robust
Blocked roads, erratic drivers,
sparse waypoints, GPS outage
Program Scope
YES
• Passing moving vehicles
• Merging into traffic
• Dirt roads, potholed roads
NO
• Speeds greater than 30 mph
• Highway driving
• Traffic signals or yield signs
• Difficult terrain
Rules and the PIP
• Rules will change
• Send suggestions to grandchallenge@darpa.mil

• June 2, 2006 deadline
• PIP amendments will be posted to FedBizOpps
• PIP and Rules consistency

• Objectives will not change
We are not making new rules today
Follow:
• BAA/PIP and Rules
• www.darpa.mil/grandchallenge
• baa06-36@darpa.mil
Program Technical Team
• Sean O’Brien
• Jon Hahn
• Harry Berman
Program Plan
• Overview
• Track A
• Track B
How to Participate
1. Form a Team
2. Select Track A or Track B
3. Submit an Application or Proposal
4. Develop a Vehicle
5. Qualify
6. Compete
1. Form a Team
• Team Leader
21 year-old U.S. citizen and resident
• Team members
Individuals can be on only one team
No nationality restrictions
• Sponsors
No restrictions
(see rules regarding Government assets and organizations).
Documentation Requirement
U.S. Citizenship: • U.S. passport
• Current drivers license and birth certificate
U.S. Residency : • Payroll stub issued by employer in the last 2 months

• Utility bill not more than 2 months old issued to team leader
2 required
(gas, electric, sewer, water, cable phone but not cell)
• Receipt for personal property taxes or real estate taxes
paid within the last year to a U.S. state, commonwealth, or
locality
• Current automobile or life insurance bill (cards or policies
not accepted)
• Voter Registration Card from U.S. state or commonwealth
• Deed, mortgage, monthly mortgage statement, or
residential rental/lease agreement
PIP and Rules will be changed

Team Example
Team Widget from Widget Industries

Mary Engineer and other employees
Team Leader: Mary Engineer

Team Members: Other employees
Team Sponsor: Widget Industries
2. Select Track A or B
$ $ $ $ $
A Proposal
BAA and PIP National

Final
Site Visit Qualification
Event
Event
B Application
$ $ $
Rules
Comparing Tracks
Track A
• Submit proposals
• Up to $1M available through payable milestones
• Government Purpose Rights to technology
Track B
• Submit application including video
• $50K for Semi-finalists $100K for Finalists
• Government claims no rights to technology
Identical Technical Criteria

3. Submit Application or Proposal
Track A
• Proposal in required format
• June 23, 2006 deadline
• Optional video
Track B
• Application: 4 parts
• October 5, 2006 Deadline
• Mandatory video
Government Participation
• Below the Federal level

Unrestricted: state universities on either track
• At the Federal level

Track B participation only
(if allowed by charter)
Funding Restriction
• None
Track A teams are not limited to contract dollars
• Use of other Government program assets

Disclose in part 1 of the application
4. Develop a Vehicle
Vehicle Requirements
• Weight: 2000 to 30,000 lbs
• Wheelbase: Min. 72 inches Max. U-turn 30 foot-wide road
• Production vehicle or documented safety record
• Manual E-stop required.
• Wireless communication prohibited while autonomous (see rules).
• Warning light and audible alarm. Brake lights and directionals.
• Team E-stop for Site Visit. DARPA E-stop for NQE.
PIP will change: Same requirements on Tracks A and B

5. Qualify
Qualification Process
A Proposal Milestone 2 Milestones 3,4
National
Final
Site Visit Qualification
Event
Event
B Application
Site Visit
DARPA Staff
June 11 – July 20, 2007
Location of your choice

In the United States
4 hours max
Submit RNDF in advance
Provide one traffic vehicle
and one control vehicle
Follow the DARPA guidelines
NQE Selection Announcement
August 10, 2007
National Qualification Event (NQE)
October 21-31, 2007

Location to be announced
Teams must arrive prepared
Test integration of Government E-stop
Advanced Navigation Test (Milestone 3)
No moving traffic
Advanced Traffic Test (Milestone 4)
Repeated testing in moving traffic
Preparation for the Final Event
Goal – no collisions
Qualification
Track B Semi-finalist limit: 20 Teams
Only fully competent vehicles will

be allowed in the Final Event.
6. Compete at the Final Event
4 5
Urban Route Network Checkpoints
All vehicles on the course together,

completing equivalent missions by
visiting checkpoints
Creating Equivalent Missions
4 5
1434245 ~ 5424143
=
Many equivalent routes are possible

The Final Event
• Route network distributed at least 24 hours in advance
• Teams perform multiple missions
Pit crew performance counts

Mission Start
UFE only final mission waypoint
team takes control of vehicle

robot 12
start chutes
Start Area
Route Area
12
reload and
launch
start next mission
Program Plan
• Overview
• Track A
• Track B
Must Know Info CMO
• Proposals must be received on or before June

23, 2006 at 5:00 p.m. EDT
• Revisions, if any, will be posted to
FEDBIZOPPS
• Send all communications to BAA06-
36@darpa.mil
• FAQs: www.darpa.mil/grandchallenge
• Proposal instructions are found in the Proposer
Information Pamphlet (PIP)
More Must Know Info CMO
• Only Fixed Price FAR Contracts or Other

Transaction for Prototype Agreements will be
awarded
• Proposals must be entered into DARPA
TFIMS before the proposal due date
– TFIMS Instructions at
www.darpa.mil/grandchallenge
– Must apply for a password for the system, so don’t
wait until the last minute
PIP Highlights CMO
• Rights in Data
– Government Purpose Rights (GPR) to milestone
reports and other documentation submitted at
milestone meetings and technical interchange meetings
– GPR to all elements of intellectual property for this
program created in whole or in part using Government
funding
– Unlimited Rights to vehicle technical paper
• Intellectual Property (IP) Claims
– Proposers are required to submit a listing (proposal
Attachment E) of any pre-existing noncommercial
components of IP to which a claim is asserted
PIP Highlights CMO
• Foreign Access to Technology

– Teams must notify DARPA if the Arms Export
Control Act, Export Administration Act, or
International Traffic In Arms Regulations (ITAR)
apply
• Organizational Conflict of Interest
– Proposal must include a completed copy of
affirmation as proposal Attachment C
• Waiver and Release of Indemnity and Liability
– Must sign and notarize waiver and release of
indemnity and liability (proposal Attachment D)
More on Contract Type CMO
• Proposals should not address profit as a
separate element
– Stimulating research and development, not
acquiring goods or services. Funds for
performance of technical effort
• A model Other Transaction Agreement is
included in the PIP
– Proposals for OTs must include proposal
Attachment B
– Not required when proposing a FAR contract
Contract Types CMO
• Contract - the principal purpose of the instrument is acquisition
by purchase, lease, or barter of property or services for the
direct benefit or use of the Federal Government or whenever
DARPA determines in a specific instance that the use of a type of
procurement contract is appropriate
• Other Transaction for Prototype - a legally binding instrument
other than a procurement contract, grant, cooperative agreement, or
other transaction for research/TIA used for a prototype project
proposed to be acquired or developed by the Department of Defense
(DoD)
Must meet one of the following requirements:
• Non-traditional Defense Contractor
• Provide one-third cost share
• SPE determines exceptional circumstances exist
OTs and Cost Sharing CMO
• Current costs only, not sunk costs

– Sunk costs are those that were invested prior to the
award of the OT
– The value of the sunk costs is realized in a positive
proposal evaluation
• The best forms of cost sharing are cash and
IR&D because they are readily quantifiable
Proposal Evaluation CMO
• Evaluation Criteria and Weighting

– Listed in descending order of importance
• Technical Approach
• Management and Funding Plan
• Strength of Team
• Scoring
– Proposal ratings will range from 1 through 4,
where 4 is the highest rating and 1 the lowest
Other Information CMO
• Teaming and Eligibility

– Only one proposal per prime. May participate as
subcontractor on more than one team
– Teams selected under Track A may not enter any other
vehicles for either track
– Government organizations may not respond to the BAA
• Only a duly authorized Contracting Officer may
obligate the Government
• Proposals are treated by DARPA as Competitive
Information/Source Selection Sensitive
– Proposals may be handled by support contractor personnel
subject to Non-Disclosure Agreements
Program Plan
• Overview
• Track A
• Track B
Track B Application
part 1: Team Information

• Team leader and alternate required
• Pictures and other information for the website
• Vehicle technical information
• Use of Government contract assets information
Track B Application
part 2a: Proof of Citizenship (photocopy)

• Passport or
• Birth certificate and driver’s license
• Due October 5, 2006
part 2b: Waiver and Release of

Indemnity and Liability
• Signed and notarized
• Due October 5, 2006
Track B Application
part 3: Site Visit Information (due March 2, 2007)

• Description and directions to site visit location
• Route Network Definition File for the site
part 4: Video Demonstration (due April 13, 2007)

• 5 minutes maximum
• CD with video in .wmv format
• Content guidelines will be released by DARPA
Emergency Stop System
Teams provide E-stop for site visit.

DARPA will issue an E-stop system to all semi-finalists
Equipment remains Government property
Integrate according to instructions prior
to NQE
E-stop modes
RUN – autonomous operation
PAUSE – controlled halt
DISABLE – shut down engine
Technical Paper
DARPA Grand Challenge

Publication quality Technical Paper for TerraMax
Submitted by Oshkosh Truck Co.
Available for public release and
The Ohio State University
Do not submit proprietary information

1. System Description
a. Mobility.
1. Describe the means of ground contact. Include a diagram showing the size and
geometry of any wheels, tracks, legs, and/or other suspension components.
25% of site visit score

The vehicle platform is an Oshkosh Trucks MTVR ModelMK23. A brochure with technical
specifications can be found at http://www.oshkoshtruck.com/pdf/Oshkosh_MTVR_brochure.pdf,
which we also attach here. The minimum turning radius is 42.7 feet. However, if necessary, in
“robot” mode (explained below) the vehicle will be able to turn a tighter corner in multiple
back-forth motions. The vehicle can traverse a 60% grade and a 30% side slope. The vehicle
cab and exhaust stack have been shortened to the dimensions given in section 3.f.2 to
accommodate known requirements of the course.
Will be published after completion

of Urban Challenge
Figure 1. TerraMax arriving at the OSU Campus.
Track A: Due at Milestone 2

Track B: Due April 13, 2007
Summary Schedule
Milestones
Awards
BAA
Proposals
6/23 9/06
1 2
+ tech report
3 4 + final report
A 10/06
6/11-7/20
May 1, 2006 TODAY
10/05 03/02 04/13 05/11 08/10
B Site Visits
Announcement
NQE FINAL EVENT
1,2 3 4 Site Visit
October 21 -31,
- 2007
November 3, 2007
Application
March 2, 2007 Site Visit RNDF due

April 13, 2007 Video + Tech Paper due
May 11, 2007 Site Visit Announcement
August 10, 2007 Semi-finalist Announcements
Rules
• Route Definition
• Technical Criteria
• Event Operations
Route Definition
RNDF At least 24 hours

in advance of start
Route Network Definition File
MDF1 at least 5 minutes

before start
Mission Data File
MDF2 at least 5 minutes

before second mission
+ optional additional missions

RNDF - Route Network Definition File
Example RNDF
17 segment zone
17.2 lane perimeter spot
17.2.3 waypoint perimeter_point waypoint
+ optional fields
Segments and Lanes
SEGMENT M
Lane width
solid_white
LANE M.1
double_yellow
LANE M.2
broken_white
LANE M.3
Waypoint M.3.2
Exits and Checkpoints
21 EXIT
ENTRY
SS STOP SIGN
CHECKPOINT 21
12.1.3
EXIT WAYPOINT
ENTRY 21 CHECKPOINT
How to visit a checkpoint
NO robot
vehicle approaching
robot checkpoint
Front bumper must completely

pass over checkpoint YES
in the proper lane
Road Markings
lane width
double_yellow
in RNDF
Curb
white
not in RNDF
Stop Line
Zones and Parking
segment
• Unmarked
Zone
• Obstacles
K-rail
static obstacles
segment
parking spot
MDF - Mission Data File
MDF
checkpoints speed limits
7
• Speeds in miles per hour
23
1 • Random start • May change from
2 • Follow in order
1 • May repeat mission to mission
2 • Per segment
5
Rules
Required Behaviors
Live Traffic UFE
Advanced Traffic NQE part 2
Advanced Navigation NQE part 1
Basic Traffic Site Visit
Basic Navigation
Technical Criteria
Examples
Basic Navigation
Vehicle stays entirely within travel lane
around corners.
S S
robot
robot
S
Basic Navigation
Vehicle stops within 1 meter of stop line.
robot
S
Front bumper of vehicle must be in this zone during stop
Basic Navigation
Vehicle exhibits less than 10 seconds of delay when

intersection is clear.
clock starts when this vehicle

clears the intersection
robot
S
Basic Navigation
Vehicle completes passing maneuver in 40-meters or less

maintaining 8-meter safety buffer
vehicle entirely within passing lane stopped vehicle
robot <8m <8m NO

40m
vehicle leaves lane vehicle entirely back in lane
Basic Traffic
Vehicle exhibits correct precedence order at intersection.
precedence
at intersection
robot
S
First to reach stop line is the first to leave.

Basic Traffic
Vehicle stops between 5 and 10 meters behind stopped

lead vehicle.
between
5 and 10
meters
robot
Basic Traffic
Vehicle maintains 15 meter safety buffer at 15 mph.
between
15 and 40
meters
robot
Advanced Navigation
A U-turn may be effected through one or more three-point

turns.
robot
Waypoint
Entry waypoint
Exit waypoint
Advanced Navigation segment
Zone
segment
K-rail
Vehicle exhibits correct parking lot behavior with

less than 10 seconds excess delay.
What is Excess Delay?
To avoid jamming up roads and parking

lots, vehicles need to move when the way
is clear.
Excess delay is timed during “stop and stare”
Taxicab Algorithm
Advanced Navigation
Vehicle re-plans when primary route is blocked.
ROADBLOCK checkpoint
ROADBLOCK
robot
Advanced Navigation
Vehicle navigates roads
with sparse waypoints.
Intersection not called out in RNDF
Sparse waypoints on curved road
One-way road
Advanced Navigation
Road-following situations:
• Curbs, berms, vegetation
• Street lines may be missing
• Winding roads
• Sparse waypoints -
may not be in center of road
Advanced Traffic
• Vehicle should pull into traffic
when oncoming vehicles
leave a gap of at least 10 seconds.
10 seconds BUILDING
R ~ 150 feet
robot
robot
• Vehicle maintains 8 meter safety gap.
8 meter gap
Advanced Traffic
Vehicle makes a left turn across moving traffic and
proceeds with less than 10 seconds excess delay.
robot
10 seconds
robot
Advanced Traffic
Vehicle navigates
parking area
in the presence of
moving traffic
K-rail
Advanced Traffic
Vehicle exhibits safe behavior at all times to avoid
collisions and near collisions.
robot
Accident avoidance
Rules
Rules
1. Penalties
• DARPA will have official observers on the course
• Causing a collision is grounds for disqualification
• Dangerous driving is grounds for disqualification
• Time penalties will be used for traffic infractions
• Rules of the Road with penalty table will be released
Rules
2. Collisions
• All-vehicles E-stopped and course cleared.
• Responsibility assessed by DARPA
• Vehicles causing collisions may be disqualified
• Victim vehicles may be allowed minor repair and re-start
• Chief Judge’s decisions are final
DARPA will not use E-stop to prevent course collisions
Rules
3. Time Corrections
• E-stop pauses
• Start chute offset
• Penalties
• Chief Judge corrections
NOT
• Time between missions
Rules
4. Pre-running
• Pre-running is forbidden.
• Gaining advantage by using information that is
not generally available is forbidden.
• DARPA will release advance information about
the course.
• Course area may be closed before the event.
Emphasis is on the comparison of technical approaches

using the same starting information
Rules
5. Other rules documents
• Master Schedule
• RNDF and MDF
• Video Guidelines
• Technical Paper Guidelines
• Site Visit Procedures
• E-stop Guidelines
• Rules of the Road
• National Qualification Event Procedures
• Final Event Procedures
• NQE Route Network Definition File
• UFE Route Network Definition File
Please send feedback to the DGC mailbox

Priorities
1. No collisions
2. Complete the mission
3. Minimize penalties

Urban Challenge Participants Conference FINAL

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Urban Challenge Participants Conference FINAL

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Welcome to the

1145 – 1200 Grand Challenge 2005 Mr. Ron Kurjanowicz

1200 – 1315 Program Plan Dr. Norm Whitaker

1315 – 1330 Break

1330 – 1400 Rules Dr. Norm Whitaker

1400 – 1430 Questions

DGC I 142 miles

DGC II 132 miles

DGC III 60 miles

Representatives from 29 states

60 Mile Supply Mission

Track A: Submit proposal to Broad Agency Announcement. Best compliant proposals

The Secretary of Defense, acting through the Director of the

• Expires September 30, 2007 (End of Fiscal Year 2007)

• New legislation sought to extend authority past FY 2007

House Bill extends Bill extends prize authority

House voted and Bill not official yet.

The Secretary of Defense, acting through the Director of the

• Senate Armed Services Committee Proposed Change:

The Secretary of Defense, acting through the Director of

Track A: Submit proposal to Broad Agency Announcement. Best compliant proposals

Urban Challenge will be held, but DARPA will not have

Terra Engineering 3 High Schools / 35 Universities

43 teams from 15 states

7 days before National Qualification Event

5 Length: 2.2 - 2.7 Miles

Start Chute Tunnel Tank Trap

Team CajunBot Team ENSCO

Team Caltech The Golem Group/

Lake Beds Narrow Gates

Rough Roads Close Obstacles

Safe autonomous driving in traffic

• Rules will change

• Send suggestions to grandchallenge@darpa.mil

• PIP amendments will be posted to FedBizOpps

• PIP and Rules consistency

U.S. Residency : • Payroll stub issued by employer in the last 2 months

PIP and Rules will be changed

Team Widget from Widget Industries

Team Leader: Mary Engineer

BAA and PIP National

Identical Technical Criteria

• Below the Federal level

• At the Federal level

• Use of other Government program assets

PIP will change: Same requirements on Tracks A and B

 Location of your choice

 October 21-31, 2007

Track B Semi-finalist limit: 20 Teams

Only fully competent vehicles will

Urban Route Network Checkpoints

All vehicles on the course together,

Many equivalent routes are possible

• Route network distributed at least 24 hours in advance

• Teams perform multiple missions

Pit crew performance counts

team takes control of vehicle

• Proposals must be received on or before June

• Only Fixed Price FAR Contracts or Other

• Foreign Access to Technology

• Current costs only, not sunk costs

• Evaluation Criteria and Weighting

Location of your choice

October 21-31, 2007

Teams provide E-stop for site visit.

Do not submit proprietary information

25% of site visit score

Will be published after completion

Track A: Due at Milestone 2