... 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, ... 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 ... in a continuous-valued 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,...