A mobile robot: Sensing, planning and locomotion

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, apriori 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.