1242 
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part Bl. Beijing 2008 
REFERENCES 
[1] Scherzinger, B. Precise Robust Positioning with 
Inertial/GPS RTK Proceedings of ION-GPS-2000, Salt Lake 
City UH, September 20-23, 2000 
[2] Urmson, C., et al, A Robust Approach to High Speed 
Navigation for Unrehearsed Desert Terrain, Pittsburgh, PA 
2006. 
[3] Peterson, K, DARPA Grand Challenge 2005 Technical 
Paper, Pittsburgh, PA 24 August 2005. 
[4] Whittaker, W, Nastro, L., Utilization of Position and 
Orientation Data for Preplanning and Real Time Autonomous 
Vehicle Navigation, GPS World, Sept 1, 2006. 
[5] Thrun, S., et al., Stanley: The Robot that Won the DARPA 
Grand Challenge, Journal of Field Robotics 23(9), 661-692, 
2006. 
[6] ibid. 
[7] Gutierrez, A., Galatali, T., Gonzalez, J.P., Urmson, C., 
Whittaker, W., Preplanning for High Performance Autonomous 
Traverse of Desert Terrain Exploiting a Priori Knowledge to 
Optimize Speeds and to Detail Paths, Pittsburgh, PA December 
2005. 
[8] Bartz, D., Whittaker, W., Dynamic Considerations for 
Achieving High Performance Unmanned Driving by Integrating 
Terrain Models, Vehicle Physics, and Planning Pittsburgh, PA 
March 2006. 
[9] Urmson, Chris et al., Tartan Racing: A Multi-Modal 
Approach to the DARPA Urban Challenge Pittsburgh, PA April 
13, 2007.