to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can

Mobile robot localization is the problem of determining a robot's pose from sensor data. This article presents a family of probabilistic localization algorithms known as Monte Carlo Localization (MCL). MCL algorithms represent a robot's belief by a set of weighted hypotheses (samples

This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning

suitable sector from among all polar histogram sectors with a low polar obstacle density, and the steering of the robot is aligned with that direction. Experimental results from a mobile robot traversing densely cluttered obstacle courses in smooth and continuous motion and at an average speed of 0.6 0.7m

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This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi-tionally considered a high level planning problem, can be effectively distributed between different levels of control, al

This paper presents the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design). The task is to determine control inputs to drive a robot from an initial configuration and velocity to a goal configuration and velocity while obeying physically based

data, alog with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach. Keywords: Bayes rule, expectation maximization, mobile robots, navigation, localization, mapping, maximum likelihood

In this paper we show that application-aware adaptation, a collaborative partnership between the operating system and applications, offers the most general and effective approach to mobile information access. We describe the design of Odyssey, a prototype implementing this approach, and show how

o widen the range of application and deployment of robots, both in research and in industrial contexts, we need to develop more powerful and flexible robotic systems exhibiting higher degrees of autonomy and able to sense, plan, and operate in unstructured environments. For that, the robot must