UMD-SMART (Un-Manned Differentially Steered Multi-purpose Autonomous Robust Transporter) and GCAT (GPS-enabled Conventional-steered Autonomous Transporter) are autonomous vehicles that were designed to participate in the 11th Annual IGVC of 2003 in the following events: the Autonomous Challenge, the Navigation Challenge and Follow-The-Leader. In the Autonomous Challenge, the vehicle has to complete a course (marked by two lane markers) and avoid all obstacles such as construction barrels and potholes (simulated using white paint). In this part of the competition, the vehicle must be able to travel on different types of terrain, such as grass, sand and wooden ramps. In the Navigation Challenge the vehicle is expected to autonomously visit waypoints specified by their latitude and longitude and avoid any obstacles along the way. In Follow-The-Leader, it has to follow a lead vehicle while maintaining a constant 3-meter headway.
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