Abstract
We are developing a self-contained and autonomous mobile robot that can navigate around our university campus. In this paper, we discuss issues important to a robot which has sufficient intelligence and toughness to withstand the rigors of outdoor navigation. Then, we report on our mobile robot ""YAMABICO NAVI,"" which has many integrated functions such as locomotion, position estimation and sensors that detect landmarks and obstacles as an example. Furthermore, we describe an execution monitoring tool that is used to observe the internal state of the robot outdoor experiments.
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