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.
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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