A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2003; you can also visit the original URL.
The file type is application/pdf.
David Wettergreen, Deepak Bapna, Mark Maimone, Geb Thomas. "Developing Nomad for robotic exploration of the Atacama Desert." Robotics and Autonomous Systems 26.2-3 (1999) 127-148