Abstract: The entry and the deletion of the degree of occupancy values in cellularly structured environment maps of autonomous mobile units is improved with the method. Dependent on the measuring directions of ultrasound sensors, different sectors in which the degrees of occupancy value are separately incremented are defined for each cell of the cellularly structured environment map. This has the advantage that an obstacle measured by different sensors only leads to an incrementation or a de-incrementation of the occupancy degree of a respective cell when this measurement ensued from the same measuring direction with respect to the cellularly structured environment map. Dynamic objects in the measurement area of the autonomous mobile unit can thus be more quickly deleted from the map and timeout measurements that have arisen due to reflections of echos do not lead to really existing objects being deleted from the map.

Abstract: A vehicle is guided along a hall by obtaining distances between it and the nearest objects along a plurality of directions, fitting straight lines through the distances to define the walls of the hall, determining its distance from the center of the hall and its angular orientation with respect thereto and directing it to a given point on the center or other line with an angular rotation so that it faces along the center line.

Abstract: In packet-switching systems, there is the problem of time-interlacing or multiplexing the cell streams intended for a plurality of receiver LANs onto a single transmission line. A method is used for this in which output times for cells of the receiver are arranged in a cyclical time table and the cells intended for the receivers are allocated to these output times in accordance with their data rate. The basic cycle of the time table depends on the receiver having the lowest data rate. In order to handle collisions where cells for a plurality of receivers are to be transmitted at the same output time, in each case a stack store in which the cells are temporarily stored is allocated to the output times. The stack stores thus form a queue with respect to the output of the cells intended for the receivers. If it is determined during multiplexing that an stack store contains a plurality of cells, then the latter are transmitted one after the other until the stack store is empty.