Integrating map learning, localization and planning in a mobile robot

The major themes of our research include the creation of mobile robot systems that are robust and adaptive in rapidly changing environments and the view of integration as a basic research issue. Where reasonable, we try to use the same representations to allow different components to work more readily together and to allow better and more natural integration of and communication between these components. In this paper, we summarize our recent work in integrated mobile robot exploration, localization, and navigation