1 Introduction. - 1. 1 Overview. - 1. 2 The HMMWV Testbed. - 1. 3 Key Software Components. - 1. 4 Integrated Systems. - 1. 5 Acknowledgments. - 2 A Behavior-based Architecture for Mobile Navigation. - 2. 1 Introduction. - 2. 2 The Distributed Architecture for Mobile Navigation. - 2. 3 Command Arbitration. - 2. 4 Behaviors. - 2. 5 Evolutionary Development and Integration. - 2. 6 Extensions. - 2. 7 Conclusion. - 3 SAUSAGES: Between Planning and Action. - 3. 1 Introduction. - 3. 2 The road to SAUSAGES. - 3. 3 Description of SAUSAGES. - 3. 4 Implementation of SAUSAGES. - 3. 5 SAUSAGES and Annotated Maps. - 3. 6 SAUSAGES and planners. - 3. 7 Conclusions. - 4 Neural Network Vision for Robot Driving. - 4. 1 Introduction. - 4. 2 Network Architecture. - 4. 3 Network Training. - 4. 4 Performance Improvement Using Transformations. - 4. 5 Results and Comparison. - 4. 6 Discussion. - 5 Vision-Based Neural Network Road and Intersection. - 5. 1 Introduction. - 5. 2 The virtual camera. - 5. 3 Detection philosophy. - 5. 4 Other systems. - 5. 5 Experimental results. - 5. 6 Conclusions and future work. - 6 SMARTY: Point-Based Range Processing for Autonomous Driving. - 6. 1 Introduction. - 6. 2 Range Date Acquisition. - 6. 3 Updating Cell State. - 6. 4 Local Map and Arc Generation. - 6. 5 Maintaining Transformations and Scrolling. - 6. 6 Performance. - 7 RANGER: Feedforward Control Approach to Autonomous Navigation. - 7. 1 Introduction. - 7. 2 Differences from Previous Systems. - 7. 3 Analytical Basis of the Concept. - 7. 4 Hierarchical Planning and Arbitration. - 7. 5 Path Tracking. - 7. 6 Adaptive Regard. - 7. 7 Real Time Latency Modelling. - 7. 8 Feedforward Simulation. - 7. 9 Tactical Planning. - 7. 10 Speed Planning. - 7. 11 High Speed Autonomy as an Optimal Control Problem. - 8 Sensor Fusion For Autonomous Navigation Using Neural Networks. - 8. 1 Introduction. - 8. 2 The Task at Hand. - 8. 3 Network Architecture. - 8. 4 Experiments and Results. - 8. 5 Conclusion. - 9 Sonar-Based Outdoor Vehicle Navigation. - 9. 1 Introduction. - 9. 2 Hardware Configuration. - 9. 3 Local Grid Map. - 9. 4 Obstacle Avoidance. - 9. 5 Object Tracking. - 9. 6 Parallel Parking. - 9. 7 Results and Conclusions. - 10 STRIPE: Low-Bandwidth and High-Latency Teleoperation. - 10. 1 Introduction. - 10. 2 Other Low-Bandwith High-Delay Systems. - 10. 3 STRIPE Implementation Details. - 10. 4 Investigating the Interface. - 10. 5 Conclusion. - 11 Optimal and Efficient Path Planning for Partially Known Environments. - 11. 1 Introduction. - 11. 2 The D* Algorithm. - 11. 3 Soundness Optimality and Completeness. - 11. 4 Experimental Results. - 11. 5 Conclusions. - 12 Dynamic Mission Planning for Multiple Mobile Robots. - 12. 1 Introduction. - 12. 2 Problem Statement. - 12. 3 Technical Approach. - 12. 4 Prototype System. - 12. 5 Results. - 12. 6 Conclusion and Future Work. - 13 Integrating Position Estimation and Perception for Navigation. - 13. 1 Introduction. - 13. 2 Position Measurement and Error Modeling. - 13. 3 Annotated Maps. - 13. 4 Filtered Position Updates. - 13. 5 Experiments and Results. - 13. 6 Conclusion. - 14 An Integrated System for Autonomous Off-Road Navigation. - 14. 1 Introduction. - 14. 2 System Overview. - 14. 3 Autonomous Navigation: An Experiment. - 14. 4 Perception. - 14. 5 Local Map Management. - 14. 6 Path Planning. - 14. 7 Combining Obstacle Detection and Goal Seeking: An Example. - 14. 8 System Performance and Future Work. - 15 A Navigation System for Goal Acquisition in Unknown Environments. - 15. 1 Introduction. - 15. 2 The Navigation System. - 15. 3 Experimental Results. - 15. 4 Conclusion. Language: English