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M Seyr:
"Autonomous Mobile Robot Motion Control: A concept for tracking control, navigation and motionplanning";
Suedwestdeutscher Verlag fuer Hochschulschriften, 2009, ISBN: 978-3838106328; 112 pages.

Research on autonomous mobile robots or vehicles is
one of the most seminal subjects at the moment.
Economically leading nations like the USA and Japan
have adopted it to one of their national research
topics.
The notion 'autonomous' here indicates that the robot
should be capable of performing certain tasks without
human interaction, in this case mobility tasks.
Possible applications include deployment in case of
natural disasters, driver assist systems, mobility
for the disabled, logistics and manufacturing
automatisation.
The task for an earth-bound robot is to move to a
certain relative location in a possibly previously
unknown complex two-dimensional environment.
This task is subdivided into simultaneous motion
planning and 2D-map-building, self-localisation or
also called navigation within the environment and
finally trajectory following control.
In this dissertation the author Martin Seyr presents
a control concept and novel algorithms, along with
experimental validation on a laboratory prototype
robot and an extensive review and discussion of the
state of the art in the field.