Here are some useful autonomous vehicle guidance resoures:
DPRG Challenge: http://geology.heroy.smu.edu/~dpa-www/robo/challenge/
I have been reading and re-reading those very same papers! I've also recently exchanged emails with David on his 6WD Jbot; which is the example from which I'm building my version of Robomagellan.
I've started to look at the Turtlebot node example in ROS. I think we need a node that will handle the ArduPilot Mega 2.0 board.
I'll wait a few (or more) weeks before ordering my board. I will try my 9DOF IMU from Sparkfun. Should keep me busy. I'm still machining bearing mounts for the drive pulleys and timing belts. And a few motor mounts to machine as well.
I did take it to the HBRobotics meeting last night, and my early chassis was well received.
To add, here's a couple of my posts:
Wheel encoders: http://www.bot-thoughts.com/2011/03/avc-bot-wheel-encoders.html
Gyro calibration: http://www.bot-thoughts.com/2012/04/avc-precision-gyro-calibration-...
Here's a little about GPS lag and pose estimation:
Sensor calibration, noise, error:
Hope someone finds this of value.
Always open to additions!