DARPA Challenge

I'm hoping someone who participated in the DARPA Challenge watches this newsgroup.
I briefly seen the Darpa program on tv. I've looked at the DARPA web
site but I don't see anything about the actual route except start/end destinations. Do these robots have to contend with obstacle like down trees, large rocks/boulders??? I seen there was 100 waypoints. I assume each robot has to hit each waypoint or can they make their own route to the destination?
Does anyone know where to get better information about this challenge on the internet???
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http://www.darpa.mil/grandchallenge / http://www.grandchallenge.org / http://www.ca.blm.gov/pdfs/barstow_pdfs/darpa /
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