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These methods and ideas are discussed here. LOLA's console and see an LOLA's hard drive had decided to crash Performing all computation on board has several advantages: The video data are not corrupted by radio-transmission noise, commands are not lost, and there's no communication lag that might result in These findings are consistent with those of previous competitors (Nourbakhsh, Powers, and Birchfield 1995). On the down side, the on-board image processor contributes significantly to the battery drain, which is partly the result of its intended desktop use. Still, we are able to get about two hours of operation to each charge. Nomadic Technologies is currently making efforts to offer a version that is better suited for mobile robot use. Figure 1.