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Uploaded on May 16, 2010

Acknowledgments: This work has taken place in the Intelligent Robotics Lab at the Artificial Intelligence Laboratory, The University of Texas at Austin. Research of the Intelligent Robotics lab is supported in part by grants from the Texas Advanced Research Program (3658-0170-2007), and from the National Science Foundation (IIS-0413257, IIS-0713150, and IIS-0750011).

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