Abstract: Three basic questions have generated most of the robotics research interest to date: Where am I? (Localization) What does the world look like? (Mapping) How to go from A to B? (Path planning)
I will examine several answers, identifying common themes. Where? and what? concern understanding the world and the robot's place in it: the Simultaneous Localization and Mapping (SLAM) problems. Localization generalizes to knowing about oneself, while mapping generalizes to knowledge representation, touching several fields. Solutions are based on both parametric and sample based strategies. Path planning is interesting, both theoretically and experimentally. I will review analytical solutions and randomized strategies from a historical perspective together with examples of current systems.
Until recently robotics was trying to understand the world. Current and future research is more concerned with changing it. The problem of manipulating and grasping has gained prominence in the last few years. In the past, robots were concerned with moving through the environment, avoiding contact, and constructing models. Today, robots approach objects, use contact, and moderate forces to understand and modify the world.
Dupuis, E; R L'Archeveque, P Allard, I Rekleitis and E Martin (2005) Toward Fully Autonomous Robotics Operation Framework.In: Ayanna Howard and Eddie Tunstel (eds.) Intelligence for Space Robotics TSI Press, pp 217-234,
Rekleitis, IM, Dudek, G & Evangelos M (2001) Multi-Robot Collaboration for Robust Exploration. Annals of Mathematics and Artificial Intelligence 31: 7-40 http://www.cim.mcgill.ca/~yiannis/Publications/journal.pdf