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In this book, new results or developments from different research backgrounds and application fields are put together to provide a wide and useful viewpoint on these headed research problems mentioned above, focused on the motion planning problem of mobile ro-bots. These results cover a large range of the problems that are frequently encountered in the motion planning of mobile robots both in theoretical methods and practical applications including obstacle avoidance methods, navigation and localization techniques, environmental modelling or map building methods, and vision signal processing etc | 16 A Mobile Computing Framework for Navigation Tasks Mohammad R. Malek1 2 Mahmoud R. Delavar3 and Shamsolmolook Aliabady2 1Dept. of GIS Faculty of Geodesy and Geomatics Eng. KN Toosi University of Technology National Cartographic Center 3Dept. of Surveying and Geomatics Eng. University of Tehran Iran 1. Introduction Mobile agents and movement systems have been rapidly increased worldwide. Within the last few years we were facing many advances in wireless communication computer networks location-based engines and on-board positioning sensors. Mobile GIS as an integrating system of mobile user wireless network and some GIS capabilities has fostered a great interest in the GIS field 14 . Without any doubt navigation and routing could be one of the most popular GIS based solution on mobile terminals. Due to this fact the mobile GIS is defined as an area about non-geographic moving object in geographic space 22 . Although the mobile computing has been increasingly growing in the past decade there still exist some important constraints which complicate the use of mobile GIS systems. The limited resources on the mobile computing would restrict some features that are available on the traditional computing. The resources include computational resources e.g. processor speed and memory user interfaces e.g. display and pointing device bandwidth of mobile connectivity and energy source 3 11 22 and 38 . In addition one important characteristic of such environment is frequent disconnection that is ranging from a complete to weak disconnection 11 and 44 . The traditional GIS computation methods and algorithms are not well suited for such environment. These special characteristics of mobile GIS environment make us pay more attention to this topic. In this chapter in order to provide a paradigm that treats with mobile objects i.e. an automatic machine that is capable of movement in a mobile information environment a logical framework is presented. In this framework the concept of .
