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In June and July 1997, Nomad, a planetary-relevant mobile robot, traversed more than 220 kilometers across the barren Atacama Desert in Chile, exploring a landscape analogous to the surfaces of the Moon and Mars. In this unprecedented demonstration, Nomad operated both autonomously and under the control of operators thousands of kilometers away, addressing issues of robot configuration, communication, position estimation, and navigation in rugged, natural terrain. The field experiment alsodoi:10.1109/robot.1998.677038 dblp:conf/icra/BapnaRMMWW98 fatcat:qetq2zcxejhejdjrwcxinhrlp4