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Systems, methods, and apparatuses for high-speed naviga tion. The present invention preferably encompasses systems, methods, and apparatuses that provide for autonomous high speed navigation of terrain by an un-manned robot. By preferably employing a pre-planned route, path, and speed; extensive sensor-based information collection about the local environment; and information about vehicle pose, the robots of the present invention evaluate the relative cost of various potential paths and thus arrive at a path to traverse the environment. The information collection about the local environment allows the robot to evaluate terrain and to identify any obstacles that may be encountered. The robots of the present invention thus employ map-based data fusion in which sensor information is incorporated into a cost map. which is preferably a rectilinear grid aligned with the world coordinate system and is centered …