@subheading(Figure 1:  The Stanford Cart)
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@subheading(Figure 2:  The Cart on an Obstacle Course)
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@subheading(Figure 3: An Cart Obstacle Run)

	This and the following diagram are plan views of the Cart's
internal world model during a run of the obstacle avoiding program.  The
grid cells are two meter squares, conceptually on the floor.  The Cart's own
position is indicated by the small heavy square, and by the graph,
indicating height, calibrated in centimeters, to the left of grid. Since the
Cart never actually leaves or penetrates the floor, this graph provides an
indication of the overall accuracy.  The irregular, tick marked, line behind
the Cart's position is the past itinerary of the Cart as deduced by the
program.  Each tick mark represents a stopping place.  The picture at top of
the diagrams is the view seen by the TV camera. The two rays projecting
forward from the Cart position show the horizontal boundaries of the
camera's field of view (as deduced by the camera calibration program).  The
numbered circles in the plan view are features located and tracked by the
program.  The centers of the circles are the vertical projections of the
feature positions onto the ground. The size of each circle is the
uncertainty (caused by finite camera resolution) in the feature's position.
The length of the 45 degree line projecting to the upper right, and
terminated by an identifying number, is the height of the feature above the
ground, to the same scale as the floor grid.  The features are also marked
in the camera view, as numbered boxes. The thin line projecting from each
box to a lower blob is a stalk which just reaches the ground, in the spirit
of the 45 degree lines in the plan view.  The irregular line radiating
forwards from the Cart is the planned future path.  This changes from stop
to stop, as the Cart fails to obey instructions properly, and as new
obstacles are detected. The small ellipse a short distance ahead of the Cart
along the planned path is the planned position of the next stop.

@subheading(Figure 4:)

	After the 11'th lurch the Cart has rounded the chair, the icosahedron
and is working on the cardboard tree.  The world model has suffered some
accumulated drift error, and the oldest acquired features are considerably
misplaced.

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@subheading(Figure 5:  The CMU Rover)
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@subheading(Figure 6:  The Rover Wheelbase)

Each wheel pair is 




Figure 7:  The Wheel Assembly




Figure 8:  The Processors