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While at Carnegie Mellon University, Kelleher worked as a team member in the CMU Lunar X-PRIZE Team, as optics lead. During this time, his research involved sensing and communications, as well as robot visual awareness and terrain classification.

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+ Stereo Vision System
Using commercial off the shelf cameras.
+ High Gain Antenna Pointing
Using inertial sensing and visual servoing.
+ Robot Self Inspection
Using parabolic viewing mirrors
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