GRACE: An Autonomous Robot for the AAAI Robot Challenge

  • Reid Simmons
  • Dani Goldberg
  • Adam Goode
  • Michael Montemerlo
  • Nicholas Roy
  • Brennan Sellner
  • Chris Urmson
  • Alan Schultz
  • Myriam Abramson
  • William Adams
  • Amin Atrash
  • Magda Bugajska
  • Michael Coblenz
  • Matt MacMahon
  • Dennis Perzanowski
  • Ian Horswill
  • Robert Zubek
  • David Kortenkamp
  • Bryn Wolfe
  • Tod Milam
  • Bruce Maxwell


In an attempt to solve as much of the AAAI Robot Challenge as possible, five research institutions representing academia, industry, and government integrated their research into a single robot named GRACE. This article describes this first-year effort by the GRACE team, including not only the various techniques each participant brought to GRACE but also the difficult integration effort itself.