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Michael R. Benjamin$^1$, Paul Newman$^2$, Henrik Schmidt$^1$, 
John J. Leonard$^1$     \\
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$^1$Department Mechanical Engineering                     \\ 
Computer Science and Artificial Intelligence Laboratory   \\ 
Massachusetts Institute of Technology, Cambridge MA       \\
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$^2$Department of Engineering Science                     \\
University of Oxford, Oxford England                      \\
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