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Section 2: Obstacle Avoidance
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  UM developed a new approach to navigating a mobile robot through narrow aisles.
  Key requirement: entry, exit, and travel within the aisles be 100% collision-free
  Requirement hard to meet with sonars, because of specular reflections and crosstalk causing false range readings.
  UM's solution based on:
  optimized location of sensors
  only accurate radial range used readings for servoing.
  inaccurate range readings used only for "yes/no" decisions.
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