Reid G. Simmons Dani Goldberg Adam Goode Michael Montemerlo Nicholas Roy Brennan Sellner Chris Urmson Alan C. Schultz Myriam Abramson William Adams Amin Atrash Magdalena D. Bugajska Michael Coblenz Matt MacMahon Dennis Perzanowski Ian Horswill Robert Zubek David Kortenkamp Bryn Wolfe Tod Milam Bruce A. Maxwell GRACE: An Autonomous Robot for the AAAI Robot Challenge. 51-72 2003 24 AI Magazine 2 db/journals/aim/aim24.html#SimmonsGGMRSUSAAABCMPHZKWMM03