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In this paper, we describe the design and development of a network of large unmanned ground vehicles (LUGVs) using lowcost, off-the-shelf technology and building upon experience gained at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. Our unique distributed architecture allows robots with different capabilities to interact, facilitates the use of multiple programming languages, and supports location and employment transparency of the interacting software agents. We wrote safety-critical and real-time software in Ada to benefit from the language's precise semantics and timing control, while writing navigation, maneuvering, user interaction, and visualization software in Java for rapid, flexible development.

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The MITRE Corporation's (McLean, VA) Meteor team fielded an autonomous vehicle that competed in DARPA's 2005 Grand Challenge race. This paper describes the team's approach to building its robotic vehicle, the vehicle and components that let the vehicle see and act, and the computer software that made the vehicle autonomous. Also presented are details of how the team prepared for the race and how their vehicle performed. © 2006 Wiley Periodicals, Inc.

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