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This paper describes recent work undertaken at the Jet Propulsion Laboratory in Pasadena, CA in the area of increased rover autonomy for planetary surface operations. The primary vehicle for this work is the Field Integrated, Design and Operations (FILIQ) rover. The F m rover is an advanced technology prototype that is a terrestrial analog of the Mars Exploration Rovers (MER) being sent to Mars in 2003. We address the autonomy issue through improved integration of rover based sensing and higherdoi:10.1109/robot.2002.1013713 dblp:conf/icra/HuntsbergerACBTLTS02 fatcat:frv7bqilkfhfre74d6heodfxdy