Cox, I. and Wilfong, G. (eds) (1990). Autonomous Robot Vehicles, Springer Verlag.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....superior tracking performance of the SPPF. 6.3 Robot localization TM Mobile robot localization (MRL) is the problem of estimating a robot s pose (2D position and heading) relative to a map of its environment. This problem has been recognized as one of the fundamental problems in mobile robotics [4]. The mobile robot localization problem comes in two flavors. The simpler of these is position tracking where the robots initial pose is known, and localization seeks to correct small, incremental errors in the robots odometry. More challenging is the global localization problem, also known as the ....

I. J. Cox and G. T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....o#ce, hospital, and factory floor operations. An early approach to designing path tracking controllers was to develop a specific dynamic model of the robot assuming straight line paths and a constant, slow velocity. Actions depended on the magnitudes of lateral and orientation path tracking errors [3]. However, velocity control was considered as an orthogonal concern a simplification that is warranted if the velocity is kept su#ciently low. Some studies that extend the robot s tracking ability to the cases of general curved paths and changing velocities have been carried out. Hemami et al. ....

I. J. Cox and G. T. Wilfong, editors. Autonomous Robot Vehicles. Springer-Verlag, New York, 1990.

....take, and how they should behave. In mobile robotics, on which this article focuses, these issues remains relatively poorly explored (despite various efforts, such as [1, 6, 11, 15, 30, 31] specifically in comparison to mobile robot navigation, which has been investigated thoroughly (see e.g. [3, 5, 14]) The goal of developing robots that operate in the same spaces where people live and work raises new questions. What physical appearance should these robots have What things should they by capable of manipulating, and how What purposes other than manipulation and navigation should such robots ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....problem of mobile robot localization to illustrate and test our approach to adaptive particle filters. Robot localization is the problem of estimating a robot s pose relative to a map of its environment. This problem has been recognized as one of the most fundamental problems in mobile robotics [1]. The mobile robot localization problem comes in different flavors. The simplest localization problem is position tracking. Here the initial robot pose is known, and localization seeks to correct small, incremental errors in a robot s odometry. More challenging is the global localization problem, ....

I. J. Cox and G. T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....on transitions in the sensor data. 1 Introduction Much research in robotics concerns low level tasks (e.g. sensory processing, manipulator design and control) leaving aside questions about high level information processing such as reasoning about space, time, actions and states of other agents [3][8] Such issues have been addressed by the knowledge representation sub field of Artificial Intelligence [17] 13] Knowledge representation (KR) theories, however, have largely been developed in isolation from empirical issues such as how knowledge about the world is acquired and what the ....

I.J. Cox and G.T. Wilfong, Autonomous Robot Vehicles, SpringerVerlag, 1990.

....density trees 1. Introduction Mobile robot localization is the problem of estimating a robot s pose (location, orientation) relative to its environment. The localization problem is a key problem in mobile robotics. It plays a pivotal role in various successful mobile robot systems (see e.g. [10,25,31,45,59,65,74] and various chapters in [4,41] Occasionally, it has been referred to as the most fundamental problem to providing a mobile robot with autonomous capabilities [8] The mobile robot localization problem comes in many different flavors [4,24] The most simple localization problem which has ....

....and can be implemented in a few lines of code. The specific probabilistic models used in our implementation have been described in depth elsewhere [24] therefore, we will only provide an informal account. The motion model, p(x # ) is a probabilistic generalization of robot kinematics [10,73]. As noticed above, for a robot operating in the plane the poses x and x # are Fig. 1. The density p(x # ) after moving 40 meter (left diagram) and 80 meter (right diagram) The darker a pose, the more likely it is. three dimensional variables. Each pose comprises a robot s two dimensional ....

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I.J. Cox, G.T. Wilfong (Eds.), Autonomous Robot Vehicles, Springer, Berlin, 1990.

....which provide the best match between the range returns and the environment model. The performance of the approach is demonstrated using data from both a single scanning Polaroid sonar and from a ring of Polaroid sonar sensors. I. Introduction Navigation is a central problem in mobile robotics [6]. The terms relocation and localization refer to two different scenarios for determining the position of an autonomous mobile robot with respect to a global reference frame [16] The former is the direct measurement of the position in a way that is independent of assumptions about previous ....

I. J. Cox and G. T. Wilfong. Autonomous Robot Vehicles. Springer-Verlag, 1990.

....and matching of feature points are done using a Gabor wavelet representation, and are interleaved with the recursive estimation. Experimental results on a real image sequence are given. 1 Introduction In this paper, we apply long frame motion analysis methods to the passive navigation problem [3, 6, 10, 11], in which the objective is to aid the visual navigation of a vehicle (or mobile robot) in an environment containing stationary obstacles and possibly some navigational landmarks. The vehicle is assumed to be equipped with a camera which obtains images of the scene at regular intervals, generating ....

....involved are the 3 D locations of unknown feature points in the scene. Partially supported by the Office of Naval Research under the grant N00014 89 5 1598 We follow a world centred approach to the problem instead of a camera centred one (Table 1) In this approach, as discussed in [6], the placing of a few easy to recognize beacons (or navigational landmarks) in the environment of the moving vehicle can considerably simplify the task of navigation. Similar principles have been used for pose refinement (e.g. 8] We formulate the problem as one of recursive state estimation, ....

I.J.Cox and G.T.Wilfong, eds., Autonomous Robot Vehicles, Springer-Verlag, 1990.

....1Introduction The exploration of space, land, or, especially, hazardous environments is a task for which robots are ideally suited. This implies that the machines must be capable of intelligent behaviour. Based on their perceptions, they have to make decisions autonomously in every situation [1]. The computational requirements for navigation and additional, sometimes even more complex tasks are extremely high and, in most cases, demand real time processing. These demands cannot be fulfilled by the basic Khepera module. In order to solve the problem posed by the Khepera s weakness in ....

I.J. Cox, G.T. Wilfong, Eds., Autonomous Robot Vehicles, Springer, 1990.

....robot localization to illustrate and test our novel approach to adaptive particle filters. Mobile robot localization is the problem of estimating a robot s pose relative to a map of its environment. Robot localization has been recognized as one of the most fundamental problems in mobile robotics [2, 1, 15]. The mobile robot localization problem comes in different flavors. The simplest localization problem which has received by far the most attention in the literature is position tracking. Here the initial robot pose is known, and localization seeks to correct small, incremental errors in a ....

I. J. Cox and G. T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....certain conditions, successful localization is only possible if teams of heterogeneous robots collaborate during localization (see [17] for details) 6. Related Work Mobile robot localization has frequently been recognized as a key problem in robotics with significant practical importance. Cox [24] noted that Using sensory information to locate the robot in its environment is the most fundamental problem to providing a mobile robot with autonomous capabilities. A recent book by Borenstein et al. 25] provides an overview of the stateof the art in localization. Almost all existing ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....robots. sembling the augmented reality systems used for training and medical applications [3] 3. The many dimensions of position estimation Position estimation is one of the critical capabilities of any autonomous device; as a consequence, position estimation has been investigated extensively [9, 20]. Here we review work that is closely related to our own. 3.1. Drop off and updating problems A position estimate can be generated with or without information about the initial state of the robot. At one extreme, the robot starts with complete knowledge of its pose; the robot is only required to ....

I. J. Cox and G. T. Wilfong. Autonomous Robot Vehicles. Springer-Verlag, 1990.

....regarded as the more difficult one, and recently several approaches have provided sound solutions to this problem. In recent years, a flurry of publications on localization which includes a book solely dedicated to this problem [5] document the importance of the problem. According to Cox [15], Using sensory information to locate the robot in its environment is the most fundamental problem to providing a mobile robot with autonomous capabilities. However, virtually all existing work addresses localization of a single robot only. The problem of cooperative multi robot localization ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....features of these robots, including locomotion using the rolling gait and the implications of its novel features. 1 Introduction There has been considerable interest in legged robotics from the early 1960s and a recent resurgence of interest in mobile robotics in general (see the surveys in [1, 2, 3, 4, 5, 6]) Most legged robots are designed to operate in a small range of preferred orientations and therefore are vulnerable to toppling. Their degrees of freedom are specialized as legs or as manipulators due to the constraints of minimizing energy consumption during locomotion (see, for # This work was ....

I.J.CoxandG.T.Wilfong.(ed.s) Autonomous Robot Vehicles. Springer Verlag, 1990.

....has frequently been recognized as a key problem in robotics with significant practical importance [29] A recent book on this topic [12] provides an excellent overview of recent work in mobile robot localization. Localization plays a key role in various successful mobile robot architectures [30, 44, 51, 60, 84, 85, 99, 105, 110, 131, 148] and various chapters in [76] While some localization approaches, such as those described in [62, 78, 132] localize the robot relative to some landmarks in a topological map, Minerva s approach localizes the robot in a metric space, just like those methods proposed in [10, 141, 144] The vast ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....trees 1 Introduction Mobile robot localization is the problem of estimating a robot s pose (location, orientation) relative to its environment. The localization problem is a key problem in mobile robotics, since it plays a pivotal role in various successful mobile robot systems (see e.g. [7,22,27,39,50,53,61] and various chapters in [2,36] Occasionally, it has been referred to as the most fundamental problem to providing a mobile robot with autonomous capabilities [6] The mobile robot localization problem comes in many different flavors [2,21] The most simple localization problem which has ....

....and can be implemented in a few lines of code. The specific probabilistic models used in our implementation have been described in depth elsewhere [21] therefore, we will only provide an informal account. The motion model, p(xjx 0 ; a) is a probabilistic generalization of robot kinematics [7]. More specifically, recall that x and x 0 are poses. For a robot operating in the plane, a pose is a three dimensional variable, which comprises a robot s two dimensional Cartesian coordinates and its heading direction (orientation) The value of a may be an odometry reading or a control ....

[Article contains additional citation context not shown here]

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....regarded as the more difficult one, and recently several approaches have provided sound solutions to this problem. In recent years, a flurry of publications on localization which includes a book solely dedicated to this problem [2] document the importance of the problem. According to Cox [8], Using sensory information to locate the robot in its environment is the most fundamental problem to providing a mobile robot with autonomous capabilities. However, virtually all existing work addresses localization of a single robot only. At first glance, one could solve the problem of ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....of, perception and knowledge is underdeveloped. In existing autonomous systems these problems have been side stepped by implementing environment and implementation specific tricks (HelpMate p. 50 and FIRST p. 38) Lozano P erez mentions two key scientific and technological gaps in his foreword to (Cox and Wilfong, 1990); sensory interpretation , and reasoning . He continues; Industrial robots can get by with minimal environment sensing and no reasoning because they operate in essentially structured, static environments. As the degree of autonomy increases the demands on the perception increases. It is no ....

....of natural landmarks and secondly, automating the building of maps. It is clear from the study of techniques currently employed to navigation that many of the encountered problems, and 14 subsequently added complexity in order to deal with these problems, arise because of poor perception. In (Cox and Wilfong, 1990) Lozano P erez writes: Essentially all approaches to the interpretation of sensory information proceed by first identifying a set of features in the sensory data that potentially correspond to entities in the world. There is a great deal of research on how to combine features and how to ....

[Article contains additional citation context not shown here]

Cox, I. J. and Wilfong, G. T., editors (1990). Autonomous Robot Vehicles. Springer-Verlag.

....performance of the proposed method, both in static and moderately dynamic environments. I. Introduction I N recent years, an increasing amount of robotics research has focused on the problem of planning and executing motion tasks autonomously, i.e. without human guidance; e.g. see [1] [2], 3] Such a faculty is essential for robotic systems operating in hostile environments (space, sea, contaminated habitats) as well as in the emerging field of service robotics, that include waste management, cleaning, luggage transfer, disabled people assistance, and others. To reach a ....

I. J. Cox and G. T. Wilfong, Eds., Autonomous Robot Vehicles. New York, NY: Springer-Verlag, 1990.

....described here has been implemented and tested in several real world applications of mobile robots, including the deployments of two mobile robots as interactivemuseum tour guides. 1. Introduction Robot localization has been recognized as one of the most fundamental problems in mobile robotics (Cox Wilfong, 1990; Borenstein et al. 1996) The aim of localization is to estimate the postition of a robot in its environment, given a map of the environment and sensor data. Most successful mobile robot systems to date utilize localization, as knowledge of the robot s position is essential for a broad range of ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....regarded as the more difficult one, and recently several approaches have provided sound solutions to this problem. In recent years, a flurry of publications on localization which includes a book solely dedicated to this problem [5] document the importance of the problem. According to Cox [15], Using sensory information to locate the robot in its environment is the most fundamental problem to providing a mobile robot with autonomous capabilities. However, virtually all existing work addresses localization of a single robot only. The problem of cooperative multi robot localization ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....particle filters to the problem of mobile robot localization, which is the problem of estimating a robot s pose relative to a map of its environment. The localization problem is a key problem in mobile robotics, as it plays a fundamental role in various successful mobile robot systems; see e.g. (Cox and Wilfong 1990, Fukuda et al. 1993, Hinkel and Knieriemen 1988, Leonard et al. 1992, Rencken 1993, Simmons et al. 1997, Wei et al. 1994) and various chapters in (Borenstein et al. 1996) and (Kortenkamp et al. 1998) Occasionally, it has been referred to as the most fundamental problem to providing a mobile ....

Cox, I. and Wilfong, G. (eds) (1990). Autonomous Robot Vehicles, Springer Verlag.

....described here has been implemented and tested in several real world applications of mobile robots, including the deployments of two mobile robots as interactive museum tour guides. 1. Introduction Robot localization has been recognized as one of the most fundamental problems in mobile robotics (Cox Wilfong, 1990; Borenstein et al. 1996) The aim of localization is to estimate the postition of a robot in its environment, given a map of the environment and sensor data. Most successful mobile robot systems to date utilize localization, as knowledge of the robot s position is essential for a broad range of ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....robot operates in large, unstructured environments, generating significant uncertainty in the robot s position and consequently in the functional identity of the objects detected by the robot. Priorities in mobile robot research are thus sensory interpretation and reasoning under uncertainty [5, 6]. A critical problem in sensory interpretation is the derivation of the right mapping between sensor signals and the properties of the world. Work in this area addresses the problem of how to detect features, how to combine features and create models, and how to match features to models. The ....

I. J. Cox and G. T. Wilfong, editors. Autonomous Robot Vehicles. Springer-Verlag, New York, 1990.

.... Italy Dipartimento di Meccanica e Automatica, Terza Universita degli Studi di Roma, Via Ostiense 157, 00154 Rome, Italy 1 Introduction In the last few years, the research activity on mobile robots has gained considerable impetus, as witnessed by a constantly growing literature, e.g. see [1, 2, 3]. The central topic of this investigation is autonomy, i.e. the capability of planning and executing motion tasks without human guidance. Such a faculty is mandatory for advanced robotic systems acting in environments where human operation is di#cult or dangerous, such as space, sea depths, and ....

I. J. Cox and G. T. Wilfong, Eds., Autonomous Robot Vehicles , Springer-Verlag, New York, NY, 1990.

....its environment is the most fundamental problem to providing a mobile robot with autonomous capabilities . A recent book by Borenstein et al. 11] provides an excellent overview of the state of the art in localization. Localization plays a key role in various successful mobile robot architectures [35,54,67,93,94,108,117,120,138,158]and various chapters in [85] While some localization approaches, such as those described ELSEVIER 1999 05 05 Prn:27 09 1999; 15:22 F:AIJ1675.tex; VTEX PS p. 37 (2524 2597) W. Burgard et al. Artificial Intelligence 00 (1999) 1 53 37 in [69,88,139] localize the robot relative to some landmarks ....

I.J. Cox, G.T. Wilfong (Eds.), Autonomous Robot Vehicles, Springer, Berlin, 1990.

.... environment is strongly dependent on the robot s ability to acquire knowledge about its environment in form of a map or directly object related information and to use this acquired knowledge for efficient navigation and self localization [10, 16] Therefore, autonomy becomes an important aspect [9]. Generally, an autonomous system should provide several advanced features. First of all, the system should be able to adapt itself to changing conditions in the environment while performing a commanded task. This indirect adaptation results in slight changes of the system s behaviour in order to ....

I.J. Cox and G.T. Wilfong. Autonomous Robot Vehicles. Springer, Berlin, Heidelberg, New York, 1990.

....the field. Based on our experience with different selflocalization methods using laser range finders [ Gutmann et al. 1998 ] we decided to employ such a method as one of the key components in our soccer agents. There exist a number of different self localization methods based on laser scans [ Cox, 1990; Gutmann and Schlegel, 1996; Lu and Milios, 1994; Wei and von Puttkamer, 1995 ] However, these methods are only local, i.e. they can only be used to correct an already existing position estimation. This means that once a robot loses its position, it will be completely lost. Furthermore, all ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer-Verlag, Berlin, Heidelberg, New York, 1990.

.... environment is strongly dependent on the robot s ability to acquire knowledge about its environment in form of a map or directly object related information and to use this acquired knowledge for efficient navigation and self localization [28, 36] Therefore, autonomy becomes an important aspect [27]. Generally, an autonomous system should provide several advanced features. First of all, the system should be able to adapt itself to changing conditions in the environment while performing a commanded task. This indirect adaptation results in slight changes of the system s behaviour in order to ....

....of STRIPS PLANNEX [37] HACKER [133] and, more recently, EBL [70] still have to be further refined until publication. 4 RESULTS 24 In initial work concerning the diagnosis functionality [26, 82, 84] an inductive learning algorithm [48] was applied. The algorithm is simple and, compared to ID3 [27], or other well known symbolic inductive learning algorithms, has the advantage of dealing elegantly with numerical training data. The disadvantage is that it does not consider discrete features. The learning kit CONDIS (inductive learning in continuous and discrete domains) developed within the ....

I.J. Cox and G.T. Wilfong. Autonomous Robot Vehicles. Springer, Berlin, Heidelberg, New York, 1990.

....results demonstrate that our approach is well suited for constructing large maps of typical indoor environments using sensors as inaccurate as sonars. 1 Introduction Learning maps with mobile robots has frequently been recognized as one of the most fundamental problems in mobile robotics [CW90, KBM98] This is because the map learning problem, often referred to as concurrent mapping and localization, is a chicken and egg problem. If the pose (we use the term pose to refer to a robot s x y location and its heading direction ) of the robot was always known during mapping which is ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....is the most fundamental problem to providing a mobile robot with autonomous capabilities. A recent book by Borenstein, Everett, and Feng [11] provides an excellent overview of the stateof the art in localization. Localization plays a key role in various successful mobile robot architectures [35,54,67,93,94,108,117,120,138,158] and various chapters in [85] While some localization approaches, such as those described in [69,88,139] localize the robot relative to some landmarks in a topological map, RHINO s approach localizes the robot in a metric space, just like those methods proposed in [7,145,150] The vast majority ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....and tested in several real world applications of mobile robots including the deployments of two mobile robots as interactive museum tour guides. 1 Introduction The problem of estimating the position of a mobile robot within its environment belongs to the fundamental problems of mobile robotics [10,2]. The knowledge about its position enables a mobile robot to carry out its tasks efficiently and reliably. In general, the problem is to estimate the location of the robot, i.e. its current state in its three dimensional (x; y; configuration space within its environment given a map and incoming ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

....so that tasks can be executed in an efficient way. The situation becomes even more restrictive if a dextrous manipulation is required because the dextrous workspace in general is only a small part of the whole workspace. In the recent years, there has been a great deal of interest in mobile robots [1, 2, 3]. A mobile robot is typically a mobile platform or vehicle, equipped with a computer(s) and various sensors. The study of mobile robots is mostly concentrated on a central question: how to move from here to there in a structured unstructured environment. It involves many issues such as motion ....

....on u 1 , which can be eliminated by introducing an integrator on the first input channel. Formally, we utilize the following dynamic feedback = ff 4 (x; fi 4 (x; v (3.13) u = ff 3 (x; fi 3 (x; v (3. 14) where is one dimensional and ff 4 (x; 0 fi 4 (x; [1 0] ff 3 (x; 2 4 GammaQ Gamma1 4 (x) Q 1 (x) Q 2 ) 3 5 fi 3 (x; 2 4 0 0 GammaQ Gamma1 4 (x)Q 3 (x) Q Gamma1 4 (x) 3 5 After applying the above dynamic feedback, we finally obtain two linearized and decoupled subsystems: y (3) 1 = v 1 (3.15) y (3) 2 = v 2 ....

I. J. Cox and G. T. Wilfong. Autonomous Robot Vehicles. Springer-Verlag, Berlin, Germany, 1990.

....can change the diameter of wheels, loosen belts, and so on. Such effects can introduce significant systematic errors into a robot s odometry. The need for robot calibration is as old as the field of robotics itself, and the literature is full of methods for calibrating robots (see e.g. AAH88, CW90, Vuk89] As examples shown elsewhere illustrate, the resulting errors can be substantial [Bor94, BEF96, KB91, Ren93, Thr98b] Virtually all existing calibration methods, however, require human intervention. To calibrate a mobile robot, a person (or some external device) has to measure the exact ....

I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

.... can lead to unacceptable performance (read bumping into walls or locating the wrong office ) An obvious way to reduce this problem is to observe the environment, and use the information in these observations to improve our estimate of R s position; cf. the works using Kalman filters [18] [6] and other techniques [29] 20] 10] 9] Our agent models the environment using only a set of landmarks , each a (potentially visible) real world object at a known location; these objects could be doors, corners and pictures when specifying the hallways within building, or major buildings, ....

I. Cox and G. Wilfong, eds., Autonomous Robot Vehicles. Springer-Verlag, 1990.

....are being avoided [17] path execution in the case of a known real environment. The focus here has typically been the sensing required to accurately execute a preplanned path, and the main problem addressed is how to match sensed data (vision, sonar, laser, infrared) against map information [3,12,7,1,15,19,4]. exploration of an unknown world with perfect range sensing and odometry information [20] exploration of an unknown world with noisy range sensing [16,6] and chapter 3 of vol. 1 and chapter 4 of vol. 2 of [12] A mobile robot typically operates in a partially known environment. A map of the ....

I. Cox and G. Wilfong (eds.). Autonomous Robot Vehicles. Springer Verlag, New York, 1990.

....views, it is desirable to minimize the correspondence error with the fewest number of additional views. An obvious question then is where successive views should be taken. This is a difficult question with interesting connections to sensing strategies in path planning, robot map making and vision [5]. A corollary to this is whether there is a minimum distance separation. Kanade et al. have rightly pointed out that small separations reduce the search space over which it is necessary to look for a match. However, it is unclear whether closely spaced intermediate views have less disambiguation ....

I. J. Cox and G. T. Wilfong. Autonomous Robot Vehicles. Springer-Verlag, 1990.

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Cox, I. and Wilfong, G. (eds) (1990). Autonomous Robot Vehicles, Springer Verlag.

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Cox, I.J. and G.T. Wilfong (1990), Autonomous Robot Vehicles, Springer.

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I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

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I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

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I. J. Cox and G. Wilfong (Editors), Autonomous Robot Vehicles, Springer-Verlag, New York (1990).

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G.Wilfong I.Cox. Autonomous robot vehicles. Springer Verlag, NW, 1990.

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Cox, I. J. and Wilfong, G. T., Editors, 1990, Autonomous Robot Vehicles. New York: Spring-Verlag.

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I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

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I.J. Cox and G.T. Wilfong (eds.) (1990), Autonomous Robot Vehicles, Springer, New York and Berlin.

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I.J. Cox and G.T. Wilfong (eds.) (1990), Autonomous Robot Vehicles, Springer, New York and Berlin.

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I.J. Cox and G.T. Wilfong, editors. Autonomous Robot Vehicles. Springer Verlag, 1990.

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I. Cox and G. Wilfong, editors. Autonomous Robot Vehicles. Springer-Verlag, 1990.

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I.J. Cox (ed.). Autonomous robot vehicles. Springer, New York, Berlin, Heidelberg etc., 1990.

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