LOLA's entry in the Office Delivery event of the 1995 Robot Competition and Exhibition, held in conjunction with the Fourteenth International Joint Conference on Artificial Intelligence, was the culmination of a three-month design and implementation period for an indoor navigation system for topological maps. This article describes the major components of the robot's navigation architecture. It also summarizes the experiences and lessons learned from the competition.

LOLA won the Office Cleanup event at the 1995 Robot Competition and Exhibition, held as part of the Fourteenth International Conference on Artificial Intelligence. The event called for a robot to pick up trash in an unstructured environment and sort it such that the recyclable trash winded up in the recycle bin and the regular trash in the trash bin. The only allowable information lola was given beforehand were model-based descriptions of the trash and recyclables, which it located using color vision. These methods and ideas are discussed here.

LOLA won the Office Cleanup event at the 1995 Robot Competition and Exhibition, held as part of the Fourteenth International Conference on Artificial Intelligence. The event called for a robot to pick up trash in an unstructured environment and sort it such that the recyclable trash winded up in the recycle bin and the regular trash in the trash bin. The only allowable information lola was given beforehand were model-based descriptions of the trash and recyclables, which it located using color vision. Much of LOLA's success can be attributed to the simple, fast algorithms and methods that also model sensor uncertainty. The ideas and design philosophy that went into LOLA borrow heavily from those of previous competitors' to which we are greatly indebted. These methods and ideas are discussed here.

LOLA's entry in the Office Delivery event of the 1995 Robot Competition and Exhibition, held in conjunction with the Fourteenth International Joint Conference on Artificial Intelligence, was the culmination of a three-month design and implementation period for an indoor navigation system for topological maps. This article describes the major components of the robot's navigation architecture. It also summarizes the experiences and lessons learned from the competition.