An Integrated Navigation and Motion Control System for Autonomous Multisensory Mobile Robots

Research on mobile robots began in the late sixties with the Stanford Research Institute’s pioneering work. Two versions of SHAKEY, an autonomous mobile robot, were built in 1968 and 1971. The main purpose of this project was “to study processes for the realtime control of a robot system that interacts with a complex environment” 〈NIL 69〉. Indeed, mobile robots were and still are a very convenient and powerful support for research on artificial intelligence oriented robotics. They possess the capacity to provide a variety of problems at different levels of generality and difficulty in a large domain including perception, decision making, communication, etc., which all have to be considered within the scope of the specific constraints of robotics: on-line computing, cost considerations, operating ability, and reliability.

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