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Robot Platform

Based on previous experience, we believe that the R3 is well suited to the project requirements outlined in section 2. However, two caveats apply: (i) they have no interface to the Internet, and (ii) they have insufficient GPS resolution (i.e., the measured spatial resolution of the R3's original GPS subsystem was 10 cm with a time resolution of 5 seconds).

As initially configured, the R3 is a small, autonomous mobile robot about 30 cm both in diameter and in height (see Figure 1). Computational requirements are satisfied by 68332 and 68HC11 microcontrollers. The R3 runs the Venus operating system [27] and runs user programs in 1MB of non-volatile RAM.