<s>
While	O
the	O
PerceptOR	O
vehicles	O
were	O
equipped	O
with	O
sensors	B-Application
and	O
algorithms	O
that	O
were	O
state-of-the-art	O
for	O
the	O
beginning	O
of	O
the	O
21st	O
century	O
,	O
the	O
limited	O
range	O
of	O
their	O
perception	O
technology	O
caused	O
them	O
to	O
become	O
trapped	O
in	O
natural	O
cul-de-sacs	O
.	O
</s>
<s>
The	O
LAGR	O
program	O
was	O
designed	O
to	O
focus	O
on	O
developing	O
new	O
science	O
for	O
robot	O
perception	O
and	O
control	O
rather	O
than	O
on	O
new	O
hardware	B-Architecture
.	O
</s>
<s>
Their	O
sensor	O
suite	O
included	O
2	O
pairs	O
of	O
stereo	B-Algorithm
cameras	I-Algorithm
,	O
an	O
accelerometer	O
,	O
a	O
bumper	O
sensor	O
,	O
wheel	O
encoders	O
,	O
and	O
a	O
GPS	O
.	O
</s>
