In a 2-1 /D world an isolines-based world reprmnation is employed. An algarithm of navigation is proposed based upon polygonization of the isolines, and use of the vertices of the polygon as n e in the graph search. Quanitative recommendations are given concerning the required density of isolines and the error Of polygoniwtion. When a physical model of mechanical motion is applied, this algorithm of navigation provides minimum-time trajectoriss of motion. The results of navigation are illUStrated Using a simulation system developed for an Intelligent Mobile Autonomous System (unmanned robot). KW wur@ isolines, polygonization, path-planning, world representation.

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An emerging class of art forms is introduced. These "coactive" art forms embody control systems whose goal is to exhibit beauty via interaction with a viewer. We show how these systems can be understood in a control systems framework, and how they highlight certain important issues in intelligent control systems design and theory. Specific examples of such systems are presented. Some preliminary observations and lessons learned about coactive systems are also presented.

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This paper describes a system of guidance for an intelligent mobile autonomous system (autonomous robot) based upon an algorithm of "pilot decision making" which incorporates different strategies of operation. Depending on the set of circumstances including the level of "informedness ", initial data, concrete environment, and so on, the "personality" of PILOT is being selected between two alternatives: 1) a diligent strategist which tends to explore all available trajectories off -line and be prepared to follow one of them precisely, and 2) a hasty decision maker inclined to make a choice of solution in a rather reckless manner base upon short term alternatives not regarding long term consequences. Simulation shows that these two personalities support each other in a beneficial way.

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