TAILIEUCHUNG - autonomous robotic systems Control and Information Sciences Editor: M. Thoma236.AnibalT. de Almeidaand

Man's technological ascent began in earnest in what is known as the Neolithic period ("New stone age"). The invention of polished stone axes was a major advance because it allowed forest clearance on a large scale to create farms. The discovery of agriculture allowed for the feeding of larger populations, and the transition to a sedentist lifestyle increased the number of children that could be simultaneously raised, as young children no longer needed to be carried, as was the case with the nomadic lifestyle. Additionally, children could contribute labor to the raising of crops more readily than they could to. | Lecture Notes in Control and Information Sciences 236 Editor M. Thoma Anibal T. de Almeida and Oussama Khatib Eds Autonomous Robotic Systems Series Advisory Board A. Bensoussan . Grimble p. Kokotovic H. Kwakernaak . Massey . Tsypkin Editors Professor Anibal T. de Almeida Institute de Sistemas e Robótica Departamento de Engenharia Electrotécnica Universidade de Coimbra Polo II 3030 Coimbra Portugal Professor Oussama Khatib Department of Computer Science University of Stanford Palo Alto CA 94305 USA ISBN 1-85233-036-8 Springer-Verlag Berlin Heidelberg New York British Library Cataloguing in Publication Data Autonomous robotic systems. - Lecture notes in control and information sciences 236 I. Almeida Anibal T. de ILKhatib o. Oussama 92 ISBN 1852330368 Library of Congress Cataloging-in-Publication Data A catalog record for this book is available from the Library of Congress Apart from any fair dealing for the purposes of research or private study or criticism or review as permitted under the Copyright Designs and Patents Act 1988 this publication may only be reproduced stored or transmitted in any form or by any means with the prior permission in writing of the publishers or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. Springer-Verlag London Limited 1998 Printed in Great Britain The use of registered names ơademarks etc. in this publication does not imply even in the absence of a specific statement that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation express or implied with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Typesetting Camera ready by editors Printed

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