Introduction

Abstract

Robots have been a subject of philosophical inquiry and a source of literary inspiration for hundreds of years. It is only since this century that robots have emerged out of fiction and philosophy into the real world. Today robots are common-place, for instance, fixed-location robotic arms now tirelessly perform precise repetitive tasks for industry. However, robots still have significant limitations. Specifically, most industrial robots require the parts they operate on to be precisely aligned, and mobile robots that move around in an environment are still largely confined to academic research laboratories. Clearly, there is a need for a more advanced generation of robots that can react to unexpected events, and can complete complex tasks under less controlled conditions. To facilitate the advancement, systems must be developed that enable robots to perceive and understand their environment.