Several members of the TerraMax Team from Ohio State University have authored an article in the latest issue of IEEE Intelligent Systems titled, Ohio State University at the 2004 DARPA Grand Challenge: Developing a Completely Autonomous Vehicle (PDF format). The TerraMax robot was based on a 32,000 lb off-road military truck. The robot completed 1.2 miles of the 250 mile course before becoming stuck when it was unable to avoid a bush in its path. The TerraMax team will be returning for the 2005 Grand Challenge.