... are partic-ularly appropriate for study given their significant recent successes in enabling mobile robots to navigate a variety of environments, from academic research buildings, to factoryfloors, ... coordinate space. This issimilar to the method used by Latombe [21, 98 ] and others to represent environments for mobile robot path-planning techniques.In the case of [21, 98 ], most of the experiments ... involves line extraction. Many indoor mobile robots rely uponlaser rangefinding devices to recover distance readings to nearby objects. Such robots canautomatically extract best-fit lines from...