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Thank you Sachin! I would really appreciate your brief technical report. As far as the platform regards, we still don't have the real version, but I can send you two videos of the initial simulations in Gazebo, with 4 and 6 wheels: http://dl.dropbox.com/u/23291294/platform_four_wheels.ogv and http://dl.dropbox.com/u/23291294/platform_six_wheels.ogv The platform is big and heavy. Please do not hesitate on asking me for more information.