Small autonomous mobile robots: sensing and action

Summary form only given, as follows. In trying to build complete autonomous and self-contained mobile robots that can operate in dynamic environments the authors have developed a set of constraints on both sensing and action that are somewhat different from the traditional assumptions. The authors have built a number of small (on the order of a few pounds in weight) totally autonomous mobile robots which do real-time sensing, some including vision, as they navigate about. This paper focuses on the connection of sensing to action and how that constrains each of them