I would say that our use constitutes "public use" to some extent - but my personal knowledge of the inner workings of their software is limited, since I'm mainly involved with the vehicle control hardware. The software is definitely adaptable, as the PackBot is a small tracked robot that can be tossed through a window, and our vehicle is a (wheeled) Scorpion rock-crawler that weighs in at 5400 pounds, and was built for a completely different mission. I can say that their software, combined with Tucson Embedded Systems' (another partner), surpassed in only 2 weeks what we were able to accomplish last year after many months of work. I'll ask if one of iRobot's gurus may want to comment on their software, as they will be much more able to describe it intelligently.