Reid Simmons, Sebastian Thrun, Greg Armstrong, Richard Goodwin,
Karen Haigh, Sven Koenig, Shyjan Mahamud, Daniel Nokovski,
Joseph O'Sullivan  Amelia was built by Real World Interface
(RWI) using Xavier-a mobile robot platform developed at CMU on a
B24 base from RWI-as a prototype. Amelia has substantial
engineering improvements over Xavier. Amelia is built on a B21
base. It has a top speed of 32 inches per second, while improved
integral dead-reckoning insures extremely accurate drive and
position controls.