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S. Kohlbrecher, Romay, A., Stumpf, A., Gupta, A., von Stryk, O., Bacim, F., Bowman, D. A., Goins, A., Balasubramanian, R., and Conner, D. C., “Human-robot Teaming for Rescue Missions: Team ViGIR's Approach to the 2013 DARPA Robotics Challenge Trials”, Journal of Field Robotics, p. 26 pages, 2014.