Integrating exploration, localization, navigation and planning with a common representation

Two major themes of our research include the creation of mobile robot syste ms that are robust and adaptive in rapidly changing environments, and the v iew of integration as a basic research issue. Where reasonable, we try to u se the same representations to allow different components to work more read ily together and to allow better and more natural integration of and commun ication between these components. In this paper, we describe our most recen t work in integrating mobile robot exploration, localization, navigation, a nd planning through the use of a common representation, evidence grids.