Luke Fletcher Seth J. Teller Edwin Olson David Moore Yoshiaki Kuwata Jonathan P. How John J. Leonard Isaac Miller Mark Campbell Dan Huttenlocher Aaron Nathan Frank-Robert Kline The MIT-Cornell collision and why it happened. 775-807 2008 25 J. Field Robotics 10 http://dx.doi.org/10.1002/rob.20266 db/journals/jfr/jfr25.html#FletcherTOMKHLMCHNK08