Alice: Introduction

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This lecture presents an overview of Alice, an autonomous vehicle built by Caltech undergraduates to participate in the 2005 DARPA Grand Challenge. Starting with the high level architecture, we describe some of the design choices that were made in the networked control systems (NCS) architecture and was as summarize the basic operation of the major software modules that are used to implement Alice's autonomous control system. More detailed descriptions of Alice's individual components will be given in future lectures.

Lecture Materials


  • The RoboFlag Competition, R. D'Andrea and R. M. Murray. American Control Conference, 2003. This article provides a high level overview of the RoboFlag competition, including a summary of the control architecture. More information on RoboFlag is available via the RoboFlag homepage. Anyone considering working on a project using RoboFlag should read this article.

Additional Resources