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<p>The Carmel project (computer-aided robotics for maintenance, emergency, and life support) which won the AAAI 1992 Robot Competition, is discussed. Carmel's design philosophy and architecture, obstacle avoidance, global path planning, vision sensing, landmark triangulation, and supervisory planning system are described. The Carmel project shows that mobile robots can perform carefully chosen tasks reliably and efficiently, although this requires extensive integration of components and a solid engineering effort.</p>

C. B. Congdon et al., "Integrated Mobile-Robot Design-Winning the AAAI 1992 Robot Competition," in IEEE Intelligent Systems, vol. 8, no. , pp. 61-73, 1993.
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