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+The modern era of autonomy is often traced to the **DARPA Grand Challenges (2004–2007)**, but it builds on decades of earlier automation across **ground, marine, airborne, and space systems**. In the airborne domain, autopilots date back to early 20th-century systems like Sperry Autopilot, evolving into today’s highly integrated flight management systems used on commercial aircraft such as the Boeing 777 and Airbus A320, where autopilot, autothrottle, and fly-by-wire systems routinely manage most phases of flight under human supervision. In the marine domain, ships have long used autopilots and dynamic positioning systems, while space systems—from the Apollo Guidance Computer to modern autonomous navigation on Mars rovers—demonstrated early closed-loop autonomy under extreme constraints. Ground systems, by contrast, lagged due to environmental complexity, which is why the DARPA challenges were so pivotal: the 2004 desert race exposed the immaturity of perception and planning, but by 2005 Stanford’s “Stanley” completed a 132-mile autonomous route, and the 2007 Urban Challenge introduced interaction with traffic, rules, and other agents. These competitions unified advances in sensing, probabilistic reasoning, and real-time control into full-stack autonomous systems and created the talent base that later drove commercial autonomy.
+Previous to the DARPA challenge, deterministic algorithms were not able to make progress on important required aspects of building autonomous systems such as object recognition, path planning, or localization. The big recent leap in technology was the use of artificial intelligence to attack these previously intractable problems.  The introduction of AI significantly moved field forward, but also introduced challenges.
 This chapter introduces the perception, mapping, and localization in the context of autonomous vehicles and usage of different sensor modalities. It examines the determination of vehicle position, position and activities of other participants in the traffic, understanding of the surrounding scenes, scene mapping and map-keeping for navigation, (referred in detail in 4.1) applications of AI, and possible sources of uncertainty and instability (mainly referred in 4.1 and 4.3).

en/safeav/maps.txt · Last modified: 2026/03/30 09:53 by airi