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We describe a second generation system that drives a camera-equipped mobile robot through obstacle courses. The system, which evolved from earlier work by Moravec 6, incorporates a new path planner and has supported experiments with interest operators, motion estimation algorithms, search constraints, and speed-up methods. In this paper we concentrate on the effects of constraint and on speed improvement. We also indicate some of our plans for a follow-on system. 1.
Thorpe et al. (Wed,) studied this question.