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This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead of decomposing the robot configuration space into "free" and "occupied", we consider the existence of several regions with different navigation costs. In this paper, costs are determined experimentally by navigating the robot through the regions and measuring the influence of the terrain on its motion. We measure the robot's verticaldoi:10.1177/0278364908097578 fatcat:kolw2quu3bf3jhu3hazdflicmm