Yi-Liang Chen Venkataraman Sundareswaran Craig Anderson Alberto Broggi Paolo Grisleri Pier Paolo Porta Paolo Zani John Beck TerraMax<sup>TM</sup>: Team Oshkosh urban robot. 841-860 2008 25 J. Field Robotics 10 http://dx.doi.org/10.1002/rob.20267 db/journals/jfr/jfr25.html#ChenSABGPZB08