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The folks at Texas A&M University have been working on a robot called SCUTTLE for which more and more documentation is being published and we are working through system-level tasks with them. You can find information at:
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Hello,
Nice. I just reviewed (peeked) over their site. BBBlue and me are in it to win it.
Seth
P.S. I am still messing w/ arducopter. I might give up on arducopter for now and try their idea. Maybe. I have my own bots but not for bots creating their own understanding of obstacle detection. Yea boy!