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the mobile robot rhino（移动机器人犀牛）
to appear in: AI Magazine, 16:1, Spring 1995
The Mobile Robot RHINO
Joachim Buhmann, Wolfram Burgard, Armin B. Cremers, Dieter Fox,
Thomas Hofmann, Frank E. Schneider, Jiannis Strikos and Sebastian Thrun
Institut f¨ur Informatik III
Universit¨at Bonn
R¨omerstr. 164, D-53117 Bonn, Germany
Abstr act— RHINO was the University of Bonn’s robot to its sensors and the environment. For example,
entry in the 1994 AAAI Robot Competition and Exhi- neural network learning is employed to interpret sonar
bition. RHINO is a mobile robot designed for indoor measurements.
navigation and manipulation tasks. The general sci-
Real-time operation. To act continuously in real-time,
entific goal of the RHINO project is the development
any-time solutions [2] are employed wherever possi-
and the analysis of autonomous and complex learn-
ble. Any-time algorithms are able to make decisions
ing systems. This paper briefly describes the major
regardless of the time spent for computation. The more
components of the RHINO control software as they
time that is available, however, the better the results.
were exhibited at the competition. It also sketches the
basic philosophy of the RHINO architecture and dis- Reactive control and deliberatio
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