A lot of people are watching. CAIR-2 starts to exit the room. Only the gods knew what would happen to us carrying a 65-kilogram robot across the Pacific! Each behavior is basically independent and has four links to its related units (figure 4). The coordinator activates one or more behaviors required to complete a given task by sending wake-up signals.

This article describes a method for building a cognitive map of a virtual urban environment. Our routines enable virtual humans to map their environment using a realistic model of perception. We based our implementation on a computational framework proposed by Yeap and Jefferies (1999) for representing a local environment as a structure called an absolute space representation (ASR). Their algorithms compute and update ASRs from a 2-1/2-dimensional (2-1/2D) sketch of the local environment and then connect the ASRs together to form a raw cognitive map. Our work extends the framework developed by Yeap and Jefferies in three important ways.

Lisp, etc.) are designed for off-line use. Poi,-1 is for use by a person communicating directly with a computer via a typewriter. With this in mind I have aimed at a tolerable efficiency of execution, and an ability to define and name new operations, with comprehensive monitoring facilities. On the other hand actual error messages are rather simple. At the very lowest level, the computer can be used just as a desk calculator.