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The resulting estimate is relayed to our planning and control modules, which ensure that the vehicle reaches its required pose with centimeter-level accuracy.<\/jats:p><jats:p>In order to deliver packages, the car needs to autonomously navigate our test facility, avoiding static and dynamic obstacles while obeying simple traffic rules. As one focus is on the practical challenges encountered when building a prototype, we cover issues ranging from sensor calibration and system identification to perception, planning, control, and the implementation of high-level behaviors. While some of the proposed solutions to these problems are not necessarily novel, they allowed us to demonstrate the vehicle\u2019s capabilities after a development phase of less than 12 months.<\/jats:p>","DOI":"10.1515\/auto-2017-0110","type":"journal-article","created":{"date-parts":[[2018,2,10]],"date-time":"2018-02-10T10:00:47Z","timestamp":1518256847000},"page":"160-182","source":"Crossref","is-referenced-by-count":0,"title":["Prototyping an autonomous delivery vehicle"],"prefix":"10.1515","volume":"66","author":[{"given":"Benjamin C.","family":"Heinrich","sequence":"first","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Thorsten","family":"Luettel","sequence":"additional","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dennis","family":"Fassbender","sequence":"additional","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Patrick","family":"Burger","sequence":"additional","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Felix","family":"Ebert","sequence":"additional","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael","family":"Himmelsbach","sequence":"additional","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hanno","family":"Jaspers","sequence":"additional","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael","family":"Kusenbach","sequence":"additional","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Georg R.","family":"Mueller","sequence":"additional","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Benjamin","family":"Naujoks","sequence":"additional","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Felix","family":"Orth","sequence":"additional","affiliation":[{"name":"StreetScooter GmbH , Juelicher Strasse 191, 52070 Aachen , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fabian","family":"Schmitt","sequence":"additional","affiliation":[{"name":"StreetScooter GmbH , Juelicher Strasse 191, 52070 Aachen , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hans-Joachim","family":"Wuensche","sequence":"additional","affiliation":[{"name":"Institute for Autonomous Systems Technology , University of the Bundeswehr Munich , Werner-Heisenberg-Weg 39, 85579 Neubiberg , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2018,2,10]]},"reference":[{"key":"2023033119444905904_j_auto-2017-0110_ref_001_w2aab3b7b4b1b6b1ab1b6b1Aa","doi-asserted-by":"crossref","unstructured":"Q. 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