Integrating Exploration , Localization , Navigation and Planningwith a Common

Two major themes of our research include the creation of mobile robot systems that are robust and adaptive in rapidly changing environments, and the view of integration as a basic research issue. Where reasonable, we try to use the same representations to allow diierent components to work more readily together and to allow better and more natural integration of and communication between these components. In this paper, we describe our most recent work in integrating mobile robot exploration, localization, navigation , and planning through the use of a common representation, evidence grids.