In this paper we discuss the design and evolution of Trinity College's ALVIN robot, an autonomous ground vehicle that has participated in the Association for Unmanned Vehicle Systems International Intelligent Ground Vehicle Competition (IGVC) since 2000. The paper first discusses the Trinity Robot Study Team, which has been responsible for developing ALVIN. We then illustrate the four generations of ALVIN, focusing on improvements made as the result of performance shortcomings and outright failures. The discussion considers the robot's body design, drive system, sensors, navigation algorithms, and vision systems. We focus especially on the vision and navigation systems developed for Trinity's fourth-generation IGVC robot, ALVIN IV. The paper concludes with a plan for future work on ALVIN and with a discussion of educational outcomes resulting from the ALVIN project.
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