Representing the world in terms of visible surfaces and the freespacesexisting between these surfaces and the viewer is an important problemsin robotics. Recently, researchers have proposed using the 3DsDelaunay ...

In this paper we describe a working, implemented controller for a real, physical mobile robot arm. The controller is composed of a collection of 15 independent behaviors which run, in real time, on a set of 8 loosely coupled ...

A mobile robot must be able to determine its own position in the world. To support truly autonomous navigation, we present a system that builds and maintains its own models of world locations and uses these models to ...

This paper describes a method by which range data from a sonar or other type of rangefinder can be used to determine the 2-dimensional position and orientation of a mobile robot inside a room. The plan of the room is ...

We report on experiments with a mobile robot using one vision process (forward motion vision) to calibrate another (stereo vision) without resorting to any external units of measurement. Both are calibrated to a velocity ...

The goal of this work is to navigate through an office environmentsusing only visual information gathered from four cameras placed onboard a mobile robot. The method is insensitive to physical changes within the room ...