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Experience with Rover Navigation for Lunar-Like Terrains
R. Simmons, E. Krotkov, L. Chrisman, F. Cozman, R. Goodwin, M. Hebert, L. Katragadda, S. Koenig, G. Krishnaswamy, Y. Shinoda, W.L. Whittaker, and P. Klarer
Proceedings of the 1995 Conference on Intelligent Robots and Systems (IROS '95), IEEE, 1995, pp. 441 - 446.

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Reliable navigation is critical for a lunar rover, both for autonomous traverses and safeguarded, remote teleoperation. This paper describes an implemented system that has autonomously driven a prototype wheeled lunar rover over a kilometer in natural, outdoor terrain. The navigation system uses stereo terrain maps to perform local obstacle avoidance, and arbitrates steering recommendations from both the user and the rover. The paper describes the system architecture, each of the major components, and the experimental results to date.

R. Simmons, E. Krotkov, L. Chrisman, F. Cozman, R. Goodwin, M. Hebert, L. Katragadda, S. Koenig, G. Krishnaswamy, Y. Shinoda, W.L. Whittaker, and P. Klarer, "Experience with Rover Navigation for Lunar-Like Terrains," Proceedings of the 1995 Conference on Intelligent Robots and Systems (IROS '95), IEEE, 1995, pp. 441 - 446.

@inproceedings{Simmons_1995_2650,
   author = "Reid Simmons and Eric Krotkov and Lonnie Chrisman and Fabio Cozman and Richard Goodwin and Martial Hebert and Lalitesh Katragadda and Sven Koenig and G. Krishnaswamy and Y. Shinoda and William Red L. Whittaker and P. Klarer",
   title = "Experience with Rover Navigation for Lunar-Like Terrains",
   booktitle = "Proceedings of the 1995 Conference on Intelligent Robots and Systems (IROS '95)",
   year = "1995",
   pages = "441 - 446",
   publisher = "IEEE"
}