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The ARK mobile robot project has designed and implemented a series of mobile robots capable of navigating within industrial environments without relying on artificial landmarks or beacons. The ARK robots employ a novel sensor, Laser Eye, that combines vision and laser ranging to efficiently locate the robot in a map of its environment. Laser Eye allows self-location of the robot in both walled and open areas. Navigation in walled areas is carried out by matching 2D laser range scans, whiledoi:10.1016/s0921-8890(98)00032-3 fatcat:eohlgg7gbban5jqhqqpdbaigui