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We describe a new architecture for controlling mobile robots. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules which communicate ...

In this paper we propose an architecture for a new task-level system, which we call TWAIN. Task-level programming attempts to simplify the robot programming process but requiring that the user specify only goals for ...

Computing surface and/or object intersections is a cornerstone of many algorithms in Geometric Modeling and Computer Graphics, for example Set Operations between solids, or surface Ray Casting display. We present an ...

In the mammalian visual system, the lateral geniculate nucleus is commonly thought to act merely as a relay for the transmission of visual information from the retina to the visual cortex, a relay without significant ...

This paper describes a method by which range data from a sonar or other type of rangefinder can be used to determine the 2-dimensional position and orientation of a mobile robot inside a room. The plan of the room is ...

We report on initial experiments with an implemented learning system whose inputs are images of two-dimensional shapes. The system first builds semantic network descriptions of shapes based on Brady's smoothed local ...

This article summarizes and extends recent results linking deterministic parsing to observed "locality principles" in syntax. It also argues that grammatical theories based on explicit phrase structure rules are unlikely ...

The low-level interpretation of images provides constraints on 3D surface shape at multiple resolutions, but typically only at scattered locations over the visual field. Subsequent visual processing can be facilitated ...

This paper addresses the problem of synthesizing stable grasps on arbitrary planar polygons. Each finger is a virtual spring whose stiffnes and compression can be programmed. The contacts between the finger tips and the ...

The need for intelligent interaction of a robot with its environment frequently requires sensing of the environment. Further, the need for rapid execution requires that the interaction between sensing and action take ...