Abstract
The DARPA Urban Challenge was a competition to develop autonomous vehicles capable of safely, reliably, and robustly driving in traffic. In this article we introduce Boss, the autonomous vehicle that won the challenge. Boss is a complex artificially intelligent software system embodied in a 2007 Chevy Tahoe. To navigate safely, the vehicle builds a model of the world around it in real time. This model is used to generate safe routes and motion plans both on roads and in unstructured zones. An essential part of Boss's success stems from its ability to safely handle both abnormal situations and system glitches.
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