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Section 2: Obstacle Avoidance
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  ¨ In 1998 we ported our VFH/EERUF obstacle avoidance technology to so-called Tactical Mobile Robots (TMRs).
  In this DARPA-funded project we developed highly reliable obstacle avoidance methods for mobile robots operating in hostile environments.

UM's TMR traversing a very
cluttered indoor obstacle 
course filled with dense smoke 
from a military-type smoke grenade.

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