This paper describes the efforts of Stanford University's Aerospace Robotics Laboratory (ARL), the Palo Alto - Mountain View (California) Regional Special Weapons and Tactics (SWAT) team, and the MLB Company to bridge the gap between the perception of potential uses of autonomous robots in police SWAT environments and the reality of their application. This paper describes in detail the SWAT exercises that were observed, the challenges indicated by these observations, and a demonstration of an autonomous robot - the MLB Bat unmanned aerial vehicle - in a SWAT environment.
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