Alonzo Kelly Anthony Stentz Omead Amidi Mike Bode David M. Bradley Antonio Diaz-Calderon Michael Happold Herman Herman Robert Mandelbaum Thomas Pilarski Peter Rander Scott Thayer Nick Vallidis Randy Warner Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments. 449-483 2006 25 I. J. Robotic Res. 5-6 http://ijr.sagepub.com/cgi/content/abstract/25/5-6/449 db/journals/ijrr/ijrr25.html#KellySABBDHHMPRTVW06