Rhino was the University of Bonn's entry in the 1994 AAAI Robot Competition and Exhibition. The general scientific goal of the rhino project is the development and the analysis of autonomous and complex learning systems. This article briefly describes the major components of the rhino control software as they were exhibited at the competition. It also sketches the basic philosophy of the rhino architecture and discusses some of the lessons that we learned during the competition.

Boddy 1988) are employed wherever possible. 's software consists of a dozen different Sonar information is to and from the hardware components obtained at a rate of 1.3 hertz (Hz), and camera of the robot. On top of these, a fast images are processed at a rate of 0.7 Hz. obstacle-avoidance routine analyzes sonar's control software, as exhibited analyzing sonar information. It has been operated repeatedly and obstacles that block the path of the for durations as long as one hour in populated robot. 's control flow is monitored by an office environments without human integrated task planner and a central user intervention.