Since the platform is meant to be remotely guided, there is the need to provide graphical feedback to the remote operator.

The following possibilities have been considered:

a) 2D Map: a 2D graphical mpa of the environment is overlaid with the 2D avatar of the platform, the ultrasound readings, and laser range finder profile

b) 3D Map: a 3D VRML map of the environment is built, and a 3D platform's avatar displayed at the corresponding position.

The maps are based upon the a priori knowledge of the environment.

When the platform moves, its position on the 2D map is updated.

There are 24 ultrasonic sensors on the platform which provide information on the 2D map. Initial results have shown that the update rate for the 2D map is reasonably fast and is consequently useful for steering the platform.