Lisa Meeden Alan C. Schultz Tucker R. Balch Rahul Bhargava Karen Zita Haigh Marc Bohlen Cathryne Stein David P. Miller The AAAI 1999 Mobile Robot Competitions and Exhibitions. 69-78 2000 21 AI Magazine 3 db/journals/aim/aim21.html#MeedenSBBHBSM00 http://www.aaai.org/ojs/index.php/aimagazine/article/view/1525