1. Scavenging with a Laptop Robot Ben Tribelhorn, Susanna Ricco, Mac Mason, and Alan Davidson AAAI Robotics Workshop 7/13/05

2. Constraints Emphasis on vision Python/C++ in Windows basic ER1 ER1 reloaded

3. Basic Components ER1 RCM @ $200 & thanks to Yau Lam Yiu for Evolution-independent code! Devantech SRF04 @ $35 MPI 5V servos @ $10Pontech SV203 I/O board @ $60 USB KritterCam @ $25

4. Together Pan/tilt laser pointer Beach ball beater Single sonar unit Circuit board for sonars, servos, and laser

5. Sonar Capacitors… Single sonar circuit Scratch work for circuit

6. Laser Panning laser pointer Adjustable- exposure camera Extremely precise whiteboard model of laser triangulation NASA take note!

7. Vision Connected components, color, size, and shape recognition

8. Objects Ellipse Fitting: coordinate-free least squares Angle Diameters Pixel Count Centroid Roundness = Color

9. MCL and Waypoints A simple demo

10. State Machine

11. Not Quite Pan/Tilt servo motors for camera Visual Odometry Visual Environmental Map Oops!