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A k ey diiculty in the design of multi-agent robotic systems is the size and complexity of the space of possible designs. In order to make principled design decisions, an understanding of the many possible system conngurations is essential. To this end, we present a taxonomy that classiies multi-agent systems according to communication, computational and(More)
W e quantify the observation by Kender and Freudenstein [6] that degenerate views occupy a significant fraction of the viewing sphere surrounding an object. This demonstrates that systems for recognition must explicitly account f o r the possibility of view degeneracy. W e show that view degeneracy cannot be detected from a single camera viewpoint. As a(More)
This paper deals with coordinating behaviour in a multi-autonomous robot system. When two or more autonomous robots must interact in order to accomplish some common goal, communication between the robots is essential. Diierent inter-robot communications strategies give rise to diierent overall system performance and reliability. After a brief consideration(More)
This paper deals with the validation of topological maps of an environment by an active agent (such as a mobile robot), and the localization of an agent in a given map. The agent is assumed to have neither compass nor other instruments for measuring orientation or distance, and, therefore, no associated metrics. The topological maps considered are similar(More)
The ARK mobile robot project has designed and implemented a series of mobile robots capable of navigating within industrial environments without relying on ar-tiicial landmarks or beacons. The ARK robots employ a novel sensor, Laser Eye, that combines vision and laser ranging to eeciently locate the robot in a map of its environment. Laser Eye allows(More)
An important requirement of advanced temporal applications is the ability to deal with deenite, indeenite, nite and innnite temporal information. There is currently no database model which ooers this functionality in a single uniied framework. We argue that the combination of relational databases and temporal constraints ooers a powerful framework which(More)
We present algorithms for the discovery and use of topological maps of an environment by an active agent (such as a person or a mobile robot). We discuss several issues dealing with the use of pre-existing topological maps of graph-like worlds by an autonomous robot and present algorithms , worst cases complexity, and experimental results (for(More)