InhaltsangabeIntroduction.- Software Infrastructure for a Mobile Robot.- The Sting Racing Team's Entry to the Urban Challenge.- Development of the NaviGATOR for the 2007 DARPA Urban Challenge.- The VictorTangoArchitecture for Autonomous Navigation in the DARPA Urban Challenge.- Real-time Obstacles Avoidance for Vehicles in the Urban Grand Challenge.- Planning Continuous Curvature Paths Using Constructive Polylines.- Steering Controller of the CajunBot-II.- Vehicle Architecture and Robotic Perception for Autonomous Driving in Urban Environments.- Engineering Autonomous Driving Software.- Empirical Evaluation of an Autonomous Vehicle in an Urban Environment.