ALVINN

AcronymDefinition
ALVINNAutonomous Land Vehicle in a Neural Network (Robotics Institute at Carnegie Mellon University; Pittsburgh, PA)
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The ALVINN (Autonomous Land Vehicle In a Neural Net) [13] is a fully connected three-layer backpropagation network, whose input is image information from a video camera and whose output is the vehicle heading required to stay on the road, as shown in Figure 2.
Non Non Non Total Fcn affine constant perfect Program #L call Ret bound step loops TOMCATV 18 0 0 0 0 2 DNASA7 140 12 0 5 4 27 MDLJDP2 31 4 1 2 0 8 SWIM 24 0 0 0 0 0 HYDRO2D 159 3 0 3 2 33 FPPP 33 10 0 0 0 7 ALVINN 23 10 0 0 0 1 SU2COR 127 40 0 0 0 24 MGRID 53 11 1 0 0 9 DODUC 275 33 0 4 0 27 TURB3D 68 5 0 0 0 18 Total 951 131 2 14 6 156 Parametrically Non Analyzable Analyzable Analyzable Variable Program bound #L #N #L #N #L #N TOMCATV 13 5 4 11 8 2 2 DNASA7 63 44 26 48 37 48 31 MDLJDP2 13 12 12 5 5 14 11 SWIM 24 0 0 24 16 0 0 HYDRO2D 131 20 18 102 63 37 23 FPPP 25 3 3 14 12 16 4 ALVINN 0 12 8 0 0 11 6 SU2COR 104 10 9 53 49 64 32 MGRID 48 1 1 31 18 21 12 DODUC 108 161 161 51 51 63 48 TURB3D 62 2 2 40 30 26 20 Total 591 270 244 379 289 302 189
In a much larger project, a full-sized self-driving van named ALVINN (Autonomous Land Vehicle In a Neural Network) complete with video camera "eyes" and an onboard "brain" made from four workstations has been developed and built at Carnegie-Mellon University [18].