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\begin{minipage}[c]{0.99\textwidth}
  \centering 
  \includegraphics[width=0.5\textwidth]{figures/collaborators.png}
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\small
\vspace{0.3in}
\noindent
This work is the product of a multi-year collaboration between the
Department of Mechanical Engineering and the Computer Science and
Artificial Intelligence Laboratory (CSAIL) at the Massachusetts
Institute of Technology in Cambridge Massachusetts, and the Oxford 
University Mobile Robotics Group.

\vspace{0.24in}

\noindent
{\bf Points of contact for collaborators:}

\vspace{0.07in}

\noindent
Dr. Michael R. Benjamin \newline
Department of Mechanical Engineering \newline
Computer Science and Artificial Intelligence Laboratory \newline
Massachusetts Intitute of Technology \newline
{\underline {mikerb@csail.mit.edu}}

\vspace{0.2in}
\noindent
Dr. Paul Newman \newline
Department of Engineering Science \newline
University of Oxford \newline
{\underline {pnewman@robots.ox.ac.uk}}
 
\vspace{0.2in}
\noindent
Prof. Henrik Schmidt \newline
Department of Mechanical Engineering \newline
Massachusetts Intitute of Technology \newline
{\underline {henrik@mit.edu}}
 
\vspace{0.3in}

\small
\noindent
Other collaborators have contributed greatly to the development and
testing of software and ideas within, notably - Toby Schneider,
Stephanie Kemna, Arjan Vermeij, David Battle, Christian Convey, Chris
Gagner.

\vspace{0.15in}

\noindent
{\bf Sponsorship:}

\vspace{0.05in}
\noindent
This work is sponsored by Dr. Behzad Kamgar-Parsi and Dr. Don Wagner of 
the Office of Naval Research (ONR), Code 311. Further support for testing and
coursework development sponsored by Battelle, Dr. Robert Carnes.
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