Ieee/Rsj International Conference on Intelligent Robots and Systems (Iros 2002), Date: SEP 30-OCT 04, 2002, Location: LAUSANNE, SWITZERLAND, Patrocinadores: IEEE Robot & Automat Soc, IEEE Ind Electr Soc, Robot Soc Japan, Soc Instruments & Control Engineers, INRIA Rhone Alpes Grenoble, EPFL Lausanne