No subject

orthogonal) basic ideas are discussed, regarding computational effort,
stability, reliability, sensor requirements, and consistency as well
as their useful applications. The first approach is an exact,
geometric technique using line representations extracted from the
information produced by a laser-range finder. The second discussed
possibility is a qualitative, topologic mapping of the environment
using neural clustering techniques. Both presented classes of
environment-modelling strategies are evaluated on the basis of
principal arguments and of simulations resp. tests on real robots.
Experiences from the MOBOT resp. the ALICE project are discussed
together with some related work.

------------------------------------------------------------------------
--- ALICE - Topographic Exploration, Cartography and Adaptive Navigation
---         on a Simple Mobile Robot
------------------------------------------------------------------------

---   File name is : Zimmer.ALICE.ps.Z

       TSRPC '94, Leeuwenhorst, The Netherlands, June 24-26, 1994

   ALICE - Topographic Exploration, Cartography and Adaptive Navigation
                        on a Simple Mobile Robot

         Pascal Lefevre, Andreas Pruess & Uwe R. Zimmer

A sub-symbolic, adaptive approach to the basic world-modelling,
navigation and exploration tasks of a mobile robot is discussed in
this paper. One of the main goals is to adapt a couple of internal
representations to a moderate structured and dynamic environment. The
main internal world model is a qualitative, topologic map, which is
continuously adapted to the actual environment. This adaptation is
based on passive light and touch sensors as well as on a internal
position calculated by dead-reckoning and by correlation to distinct
sensor situations. Due to the fact that ALICE is an embedded system
with a continuous flow of sensor-samples (i.e. without the possibility
to stop this data-flow), realtime aspects have to be handled.
ALICE is implemented as a mobile platform with an on-board computer
and as a simulation, where light distributions and position drifts are
considered. 

------------------------------------------------------------------

FTP-information (anonymous login):

   FTP-Server is   : ag_vp_file_server.informatik.uni-kl.de
   Mode is         : binary
   Directory is    : Neural_Networks/Reports
   File names are  : Zimmer.ALICE.ps.Z
                     Zimmer.Comparison.ps.Z
                     Zimmer.Navigation.ps.Z
                     Zimmer.Topologic.ps.Z
                     Zimmer.Visual_Search.ps.Z
                     Zimmer.Learning_Surfaces.ps.Z
                     Zimmer.SPIN-NFDS.ps.Z
.. or ...

   FTP-Server is   : ftp.uni-kl.de
   Mode is         : binary
   Directory is    : reports_uni-kl/computer_science/mobile_robots/...

   Subdirectory is : 1994/papers
   File names are  : Zimmer.ALICE.ps.Z
                     Zimmer.Comparison.ps.Z
                     Zimmer.Navigation.ps.Z
                     Zimmer.Topologic.ps.Z
                     Zimmer.Visual_Search.ps.Z

   Subdirectory is : 1993/papers
   File names are  : Zimmer.learning_surfaces.ps.Z
                     Zimmer.SPIN-NFDS.ps.Z

   Subdirectory is : 1992/papers
   File name is    : Zimmer.rt_communication.ps.Z

   Subdirectory is : 1991/papers
   File names are  : Edlinger.Pos_Estimation.ps.Z
                     Edlinger.Eff_Navigation.ps.Z
                     Knieriemen.euromicro_91.ps.Z
                     Zimmer.albatross.ps.Z 
.. or ...

   FTP-Server is   : archive.cis.ohio-state.edu
   Mode is         : binary
   Directory is    : /pub/neuroprose
   File names are  : zimmer.alice.ps.Z
                     zimmer.comparison.ps.Z
                     zimmer.navigation.ps.z
                     zimmer.visual_search.ps.z
                     zimmer.learning_surfaces.ps.z
                     zimmer.spin-nfds.ps.z

------------------------------------------------------------------


-----------------------------------------------------
                                                       ----- 
   Uwe R. Zimmer                                              ---
     University of Kaiserslautern - Computer Science Department  |
     Research Group Prof. v. Puttkamer                           |
   67663 Kaiserslautern - Germany                                |
  -------------------------------------------------------------- |
    P.O.Box:3049 | Phone:+49 631 205 2624 | Fax:+49 631 205 2803 |