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Mobile Robot
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@TechReport{Bayliss:TR97,
  author = 	 {Jessica D. Bayliss and Christopher M. Brown and  Rodrigo L. Carceroni and Christopher K. Eveland and Craig Harman and Amit Singha and Mike Van Wie},
  title = 	 {Mobile Robot},
  institution =  {Comp Sci Dept University of Rochester},
  year = 	 {1997},
  number = 	 {661},
  address = 	 {Rochester NY},
  month = 	 {August},
  abstract =     { 
After abandoning an attempt to build our own gasoline-powered automated outdoor vehicle in 1995, we purchased 
two M68332-controlled wheelchairs for indoor and outdoor mobile robotics research. Much of the first year has 
been spent on various infrastructure projects, several of which are described here. At this writing we are 
beginning to be in a position to do nontrivial applications and research using these platforms. This compendium 
of facts and experiences is meant to be useful in getting to know the organization and capabilities of our mobile 
robots. We first cover the basic hardware and the serial protocol used to communicate between the main computing 
engine and the microcontroller responsible for sensor management, motor control, and low-level sensori-motor 
control loops. We describe the interface to the video digitizer, a low-level obstacle avoidance routine, and a 
general software organization for a control architecture based on video streams. Dynamic nonholonomic models and 
a virtual environment for debugging and experimenting with them are described next, followed up by a visual serving
application that uses ``engineered vision'' and special assumptions.     }
}