Fernando G. Gonzalez Richard Andres David Deal Frank Goergen Matt Rhodes Tim Roberts Gary Stein Josh Wilson Sarah Wong Black knight: An autonomous vehicle for competition. 451-460 2004 21 J. Field Robotics 9 http://dx.doi.org/10.1002/rob.20025 db/journals/jfr/jfr21.html#GonzalezADGRRSWW04