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. Author manuscript; available in PMC: 2022 Jul 1.
Published in final edited form as: IEEE Robot Autom Lett. 2021 Mar 25;6(3):4782–4789. doi: 10.1109/lra.2021.3068893

Fig. 5.

Fig. 5.

Ash-Pile test result for 652m driving with 3m error threshold.