Table of Contents

Introduction - mobile robots - a proving ground for AI, R. Peter Bonasso et al. Part 1 Mapping and navigation: introduction, David Kortenkamp; map learning and high-speed navigation in RHINO, Sebastian Thrun et al; integrating high-speed obstacle avoidance, global path planning and vision sensing on a mobile robot, David Kortenkamp et al; Dervish - an office-navigating robot, Ilah Nourbackhsh; Xavier - a robot navigation architecture based on partially observable Markov decision process models, Sven Koenig and Reid G. Simmons. Part 2 Vision for mobile robots: introduction, Robin Murphy and David Kortenkamp; the Polly system, Ian Horswill; coordination and control of sensing for mobility using action-oriented perception, Robin R. Murphy; vehicle guidance architecture for combined lane tracking and obstacle avoidance, Bill Schiller et al. Part 3 Mobile robot architectures: introduction, R. Peter Bonasso; three-layer architectures, Erann Gat; the Saphira architecture for autonomous mobile robots, Kurt Konolige and Karen Myers; the animate agent architecture, R. James Firby et al; cooperative multiagent robotic systems, Ronald C. Arkin and Tucker Balch; toward advanced mobile robots for manufacturing, Huosheng Hu and Michael Brady; the "Phoenix" autonomous underwater vehicle, Don Brutzmann et al.

About the Author

David Kortenkamp is Co-Founder and Senior Scientist at Texas Robotics and Automation Center, NASA Johnson Space Center. Robin R. Murphy is Raytheon Professor of Computer Science and Engineering at Texas A&M University, where she is also Director of the Center for Robot-Assisted Search and Rescue. She is the author of Introduction to AI Robotics and Disaster Robotics and the editor of Robotics Through Science Fiction (all published by the MIT Press).