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Little Ben: The Ben Franklin Racing Team’s entry in the 2007 {DARPA} Urban Challenge Bohren, Jonathan., Foote, Tully., Keller, Jim., Kushleyev, Aleksandr., Lee, Daniel D.., Stewart, Alexander D.., Vernaza, Paul., Derenick, Jason., Spletzer, John., and Satterfield, Brian J. Field Robot., Volume 25, Number 9, p.598–614, (2008) Abstract
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 Download: J. Field Robot 2008 - Little Ben.pdf (860.92 KB)
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Search-based planning for a legged robot over rough terrain Vernaza, Paul., Kushleyev, Aleksandr., Lee, Daniel D.., Likhachev, Maxim., Bhattacharya, Subhrajit., and Chitta, Sachin International Conference on Robotics and Automation, Kobe, Japan, (2009)
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