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A. Talukder, Manduchi, R., Castano, R., Owens, K., Matthies, L., Castano, A., and Hogg, R., Autonomous terrain characterisation and modelling for dynamic control of unmanned vehicles, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and System (IROS 2002), 2002, vol. 1, pp. 708–713.