LIST OF FIGURES

Figure page

1-1 A architecture hierarchy .............................................................. ...... ... .

1-2 M message header properties bit layout ........................................ ...... ............... 9

2-1 Rem otec Andros robotic platform ......................................................................10

2-2 Andros physical dimensions ........... ..... ......... .... ............... 11

2-3 N active A ndros controller ......... ................. ..........................................................12

2-4 Communicator-Node Manager component interaction ........................... .........13

2-5 Primitive Driver component interaction..... ................... ...............14

2-6 Vehicle orthogonal coordinate system ........................................ ............... 15

2-7 Stair counter assem bly .......... ................... ....... ...................... ............... 16

2-9 M edian filter exam ple....................................................................... ..................18

2-10 Auxiliary track position system setup ........................................... ............... 20

3-1 Intelligent Primitive Driver implementation ................................. ................ 26

3-2 Intelligent Primitive Driver logic flow diagram.............. ..... .................33

3-3 "Set Auxiliary Actuator" algorithm .................................................. ............... 34

3-4 Opening sequence of "Set Behavior X" algorithm............................................35

3-5 Stair data representation ........................................ .............................................36

3-6 Skew alignm ent task correction........................................ ............................ 37

3-7 A scend stair m otion protocol....................................... ............... ............... 40

3-8 D escend stair m otion protocol ............................................................ ............ 41

4-1 Calibration data for Sharp GP2D12 infrared object detectors..............................44