Georgiev Atanas author Columbia University. Computer Science Allen Peter K. author Columbia University. Computer Science Gold Ed author Columbia University. Computer Science Blaer Paul S. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 2000 English A distributed, modular, heterogeneous architecture is presented that illustrates an approach to solving and integrating common tasks in mobile robotics, such as path planning, localization, sensor fusion, environmental modeling, and motion control. Experimental results are shown for an autonomous navigation task to confirm the applicability of our approach. Robotics Piscataway, N.J. IEEE 2000 3266 3271 http://dx.doi.org/10.1109/ROBOT.2000.845166 http://hdl.handle.net/10022/AC:P:15195 NNC NNC 2012-11-05 14:49:00 -0500 2012-11-05 15:09:18 -0500 9197 eng