Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital.

This book is about faithful witnesses -- from the Reformation to South African apartheid to Bonhoeffer -- to the promise of Jesus Christ. Even in the midst of trials, these faithful followers have testified that the gospel is authority enough for the church's life and unity. Significantly, this is the first book in print by the late Robert Bertram, described by Edward Schroeder as "perhaps the most unpublished major Lutheran theologian of the twentieth century."

A year of turbulence and a planet at unrest brings the year 2006 to a frustrating, yet challenging end. More questions than answers have been created.
As a spectator of the turbulence I have documented my observations on a weekly basis in a column which has been submitted to various newspapers throughout the country with one person's response to the ongoing crises of what I choose to call "The Nature of Things."
From the beginning of time there has been conflict of one okind or another and, for better or worse, that is the way it is. The complexity of human nature expresses itself in as many forms as there are individuals. It has been said by observers wiser than I that we do not resolve these ongoing problems, we merely manage them. Although each event is unique unto itself, at the same time they are merely reflections of similar events throughout history.
The method of crisis management and problem resolution is an ongoing processwhich allows us to grow and improve as a civilization. All of the angst which we encounter in the process is a part of the mechanism through which we are permitted to grow.
My critique of the many problems in 2006 hopefully has been submitted in a constructive format. I tend to be an optimist with a tinge of cynacism. I hope this is not anathema to those who choose to read the book. The views expressed are of a personal nature and hopefully will add to the national dialogue regarding our ongoing challenges.

A mysterious stranger appears in the marketplace of a mythical kingdom. Although apparently peaceful and prosperous, beneath this facade exist the seeds of deterioration not only in the kingdom, but its moral base. His travels expose him to citizens of the kingdom both powerful and powerless revealing to him many of the complex problems extant in today's society.

Most people make the journey through life and for whatever reason never realize their dreams. Nowhere is it written that one may pursue but one career in one's lifetime.