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The first part concerns the model of the robot\/environment interaction. This model is based on the definition of the<jats:italic>interaction component<\/jats:italic>(deformable virtual zone) of an<jats:italic>internal state<\/jats:italic>of the robot and leads to avoidance\u2010oriented control laws. The second part describes the derivation of the state equation and one of its implementations on a fast outdoor mobile robot. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110104","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:19:29Z","timestamp":1183731569000},"page":"13-20","source":"Crossref","is-referenced-by-count":21,"title":["Reactive behaviors of fast mobile robots"],"prefix":"10.1002","volume":"11","author":[{"given":"Ren\u00e9","family":"Zapata","sequence":"first","affiliation":[]},{"given":"P.","family":"L\u00e9pinay","sequence":"additional","affiliation":[]},{"given":"P.","family":"Thompson","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"L.Bochereau D.Wolfstein andY.Kanayama \u201cSimulation of model based path planning for a mobile robot \u201d Proc. of 9th IASTED International Symp. on Robotics and Automation Santa Barbara CA 1987."},{"key":"e_1_2_1_3_2","article-title":"Solving the find\u2010path problem by good representation of free space,","volume":"13","author":"Brooks R. 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