Autonomous vacuum cleaner

This paper presents the results of the development of an autonomous mobile robot, designed according to some new concepts established in this eld during the last decade. These principles can be found in other work based on the constructivist approach, arti cial life, subsumption architecture and other bottom-up methodologies. These ideas have been applied to the complete robot design, spanning from the shape of the robot to the sensors, from the electronics to the software control structure. By this way we have developed what we call an "Application Speci c Mobile Robot" (ASMR). The target application is a domestic autonomous vacuum cleaner. Despite the actual limitations of the nal robot, this work shows how this methodology can bring many interesting results.