Arbiter and Simulation for Team Caltech in DARPA Grand Challenge

Abstract: Abstract I would like to thank my mentor Richard Murray at the Control and Dynamical Systems Department of California Institute of Technology (Caltech) for giving me the opportunity of conducting my master's thesis at Caltech and for his support during the project. I would also like to thank my other mentor Anders Rantzer at the Department of Automatic Control of Lund Institute of Technology under whose supervision this master's thesis was conducted. Thanks also goes to Lars Cremean who has been very supportive during the whole project as my co-mentor at Caltech. I would also like to thank the members of Team Caltech for their help as well as making my visit at Caltech a very pleasant time: Elliott Andrews, Jeremy Gillula, Ben Brantley, Sue Ann Hong, Dimitry Kogan, Kristo Kriechbaum, Haomiao Huang, Henry Barnor, Adam Craig and Alan Somers.