Abstract: Provided are a method, system, and article of manufacture for determining whether data written to source storage locations according to a write order is copied to corresponding target storage locations in the write order. Values are written to indicated source storage locations in a write order. The values written to the source storage locations are copied to corresponding target storage locations. The values at the target storage locations are read and a determination is made from the read values whether the values were written to the target storage locations in the write order.

Abstract: The present invention provides a system for coordinating multiple vehicles in a passageway environment (e.g., in underground mines). The system includes methods and apparatus for determining the global position and orientation of a vehicle in said passageway environment, and methods for planning routes and monitoring the travels of multiple vehicles in said passageway environment. A global position and orientation estimation system employs one or more odometric sensors and one or more range sensing devices. It works in three basic steps. In the first step, it records and processes sensor data that is descriptive of the passageway environment by moving the system through said passageway environment. In the second step, it generates a globally consistent map of said passageway environment.