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Future robotic space missions will employ a precision soft-landing capability that will enable exploration of previously inaccessible sites that have strong scientific significance. To enable this capability, a fully autonomous onboard system that identifies and avoids hazardous features such as steep slopes and large rocks is required. Such a system will also provide greater functionality in unstructured terrain to unmanned aerial vehicles. This paper describes an algorithm for landing hazarddoi:10.1109/robot.2005.1570727 dblp:conf/icra/JohnsonMM05 fatcat:zwa3l3dvwffmfdjtcqe7xxdpqa