  After the three DARPA Grand Challenge contests many groups around the world
have continued to actively research and work toward an autonomous vehicle
capable of accomplishing a mission in a given context (e.g. desert, city) while
following a set of prescribed rules, but none has been completely successful in
uncontrolled environments, a task that many people trivially fulfill every day.
We believe that, together with improving the sensors used in cars and the
artificial intelligence algorithms used to process the information, the
community should focus on the systems engineering aspects of the problem, i.e.
the limitations of the car (in terms of space, power, or heat dissipation) and
the limitations of the software development cycle. This paper explores these
issues and our experiences overcoming them.
