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This paper describes the first cross-country map and sensorbased autonomous operation of a robotic vehicle. Experiments on the Autonomous Land Vehicle in natural terrain were performed. An overview of the software architecture used for this achievement is discussed, and details of the perception and planning techniques are presented. We describe two key experiments where the vehicle avoided known and unknown obstacles in its path.

A bench‐scale system was developed that through its use contributes toward a more fundamental understanding of the composting process. The computer‐controlled system maintained temperature and moisture levels within narrow ranges in thin layers of compost positioned on nylon mesh trays within the vessel. This system minimized complications caused by gradients observed in earlier systems. Specific O2 consumption and CO2 evolution rates were determined on the basis of dynamic mass balances. Water was introduced intermittently. Microbial biomass (ATP) was monitored at specific time intervals throughout the process. The system allows close observation of decomposition of feed materials at constant temperature and moisture levels throughout the process.

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