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agents algorithm angle applications approach Artificial Intelligence autonomous behaviors camera cell compression Computational Geometry Computer Computer Vision constraints control system coordinate corner dead reckoning density depth map detection developed direction distance dynamic edge environment model equations error estimate Euclidean shortest path example Figure filter fixation function geometry goal graph grid IEEE image plane implemented interface intersection landmark linear measurement method mobile robot module motion motion planning moving navigation Navlab node object obstacle avoidance obtained operator optical flow optimal orientation parameters path planning performance pixels planner polar space polygon polynomial position problem range real-time region road Robotics and Automation rotational rover segments sensor sequence shortest path simulator sonar space spatial speed surface target techniques teleoperator terrain tracker tracking traverse updated values vanishing point vector vehicle velocity visibility graph vision system visual voxel window world model