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homepages/22/3883 journals/ijrr/KellyCHHMRWZC11 conf/darpa/UrmsonABBBCDDGGGHHHKKLMMPPRRSSSSSWWZBBDLNSZSTDF09 conf/iros/PetersonZR08 journals/jfr/UrmsonABBBCDDGGGHHHKKLMMPPRRSSSSSWWZBBDLNSZSTDF08 journals/jfr/UrmsonRRABGGJHKMMPSSSZWCKMS06
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