The mobile robot.

Kurt3D Outdoor (Fig. 1) is a mobile robot with a size of 45 cm (length) $\times$ 33 cm (width) $\times$ 29 cm (height) and a weight of 22.6 kg. Two 90 W motors are used to power the 6 skid-steered wheels, whereas the front and rear wheels have no tread pattern to enhance rotating. The core of the robot is a Pentium-Centrino-1400 with 768 MB RAM and Linux.