Optical flow based perception, behavior based control, and topological path planning for mobile robots using fuzzy logic concepts formatIsbn:Softcover 9783942710879 Wertung der Rechtswissenschaft 46 E formatIsbn:Softcover 9789048163663 Wertung der Rechtswissenschaft 46 E nothing arises in the Universe in which one cannot see the sense of some maXImum or mInImUm Euler God moves the Universe along geometrical lines Plato Mathematical models of most closed physical systems are based on vari­ ational principles a generic modular structure of a behavior based control system with three clearly separate modules for perception this approach provides vision based mobile robots with 3D object and indoor landmark recognition