Preplanning information about terrain is as important as real-time navigation for achieving peak
performance in autonomous driving. Both preplanning and navigation amp;mdash; and key technologies to support
them amp;mdash; helped the Carnegie Mellon Red Team successfully guide the robot vehicles Sandstorm and
H1ghlander through the 2005 DARPA Grand Challenge course.

Preplanning information about terrain is as important as real-time navigation for achieving peak
performance in autonomous driving. Both preplanning and navigation — and key technologies to support
them — helped the Carnegie Mellon Red Team successfully guide the robot vehicles Sandstorm and
H1ghlander through the 2005 DARPA Grand Challenge course.