Departmental Papers (ESE)


This paper reviews the theory of navigation functions and the attendant use of natural control techniques with emphasis upon applications to mobile autonomous robots. Results to date will be discussed in the context of a larger program of research that seeks effective parameterizations of uncertainty in robot navigation problems. Constructive solutions to particular cases of mobile robot navigation problems with complete certainty are provided as well.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

September 1989


Copyright 1989 IEEE. Reprinted from Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '89: The Autonomous Mobile Robots and Its Applications (IROS '89), 1989, pages 639-645.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 11 July 2008

This document has been peer reviewed.