Michelle Bovard Matthew Gillette Trishan R. de Lanerolle Bozidar Marinkovic Nhon H. Trinh Peter Votto David J. Ahlgren Kundan Nepal Amir Tamrakar Design evolution of the Trinity College IGVC robot ALVIN. 461-469 2004 21 J. Field Robotics 9 http://dx.doi.org/10.1002/rob.20026 db/journals/jfr/jfr21.html#BovardGLMTVANT04