Abstract
A mobile robot architecture must include sensing, planning, and locomotion which are tied together by a model or map of the world based on sensor information, a priori knowledge and generic models. The architecture of a Stanford’s autonomous mobile robot is described including its distributed computing system, locomotion, and sensing. Additionally, some of the issues in the representation of a world model are explored. Sensor models are used to update the world model in a uniform manner, and uncertainty reduction is discussed
Support for this work was provided by the Air Force Office of Scientific Research under contract F33615-85-C-5106, Image Understanding contract N00039-84-c-0211 and Autonomous Land Vehicle contract AIDS-1085S-1. David Kriegman was supported by a fellowship from the Fannie and John Hertz Foundation.
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Kriegman, D.J., Triendl, E., Binford, T.O. (1990). A Mobile Robot: Sensing, Planning and Locomotion. In: Cox, I.J., Wilfong, G.T. (eds) Autonomous Robot Vehicles. Springer, New York, NY. https://doi.org/10.1007/978-1-4613-8997-2_33
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DOI: https://doi.org/10.1007/978-1-4613-8997-2_33
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