ASSIGNMENT OF COPYRIGHT
					[27 January 1998]


A K Peters, Ltd. is pleased to publish your Article entitled,

................................................................................
......, in
Robotics: The Algorithmic Perspective.

In consideration of the publication of the Article, the

Author,..................................., grants to us or our successors
all right in the Article of whatsoever kind of nature, including those now
or hereafter protected by the Copyright Laws of the United States and all
foreign countries, as well as any renewal, extension, or reversion of
copyright, now or hereinafter provided, in any country.

The Author warrants that his/her contribution is an original work not
published elsewhere in whole or in part, except in abstract form, that s/he
has the full power to make this grant, and that the Article contains no
matter libelous or otherwise unlawful or which invades the right to privacy
or infringes any proprietary right.

The Author warrants that the Article has not been previously published and
that if portions have been previously published permission has been
obtained for publication in Robotics: The Algorithmic Perspective, and the
Author will submit a copy of the permission release and copy for credit
lines with his/her manuscript.

The Publisher, in turn, grants to the Author the royalty free right of
republication in any book of which s/he is the Author or Editor, subject to
the express condition that lawful notice of claim of copyright be given.

The Author will receive no royalty or other monetary compensation for the
assignment set forth in this Agreement.

Author: please indicate your acceptance of the terms of publication by
signing and dating this Agreement and returning the form promptly to A K
Peters, Ltd., 289 Linden Street, Wellesley, MA 02181.
--------------------------------------------------------------------------------
----------------------------

____________________________________	_____________________________
Author's Signature		Date	Author's Signature         Date


____________________________________	____________________________
Author's Signature		Date	Author's Signature         Date


Exemption for Authors Employed by the United States Government: I attest
that the above article was written as part of the official duties of the
Authors as employees of the United States Government and that a transfer of
copyright cannot be made.


____________________________________	____________________________
Author's Signature		Date	Author's Signature         Date

____________________________________	_____________________________
Author's Signature		Date	Author's Signature         Date