List of Figures

• 1.1. Example client/server interaction
• 7.1. Snap-shots showing the amcl driver in action; convergence in this case is relatively slow.
• 7.2. (a) Standard laser scan. (b) The corresponding C-space scan for a robot of radius 0.05 m
• 7.3. A sample laser bar (ignore the colored bands).
• 7.4. A sample laser barcode. This barcode has 8 bits, each of which is 50mm wide.
• 7.5. A sample laser visual barcode.
• 7.6. A sample UPC barcode (one digit).
• 8.1. Overall system architecture of Player