Sensing and planning are at the core of robot motion. Traditionally,

mobile robots have been used for performing various tasks

with a general-purpose processor on-board. This book grew out of

our research enquiry into alternate architectures for sensor-based

robot motion. It describes our research starting early 2002 with the

objectives of obtaining a time, space and energy-efficient solution

for processing sensor data for various robotic tasks.

New algorithms and architectures have been developed for

exploration and other aspects of robot motion. The research has

also resulted in design and fabrication of an FPGA-based mobile

robot equipped with ultrasonic sensors. Numerous experiments

with the FPGA-based mobile robot have also been performed and

they confirm the efficacy of the alternate architecture.