These parameters are encapsulated in MATLAB objects, robot objects can be created by the user for any serial-link manipulator and a number of examples are provided for well known robots such as the Puma 560 and the Stanford arm amongst others. It can operate with symbolic values as well as numeric. Ground robots and includes: standard path planning algorithms (bug, distance transform, D*, PRM), kinodynamic planning (RRT), localization (EKF, particle filter), map building (EKF) and simultaneous localization and mapping (EKF), and a Simulink model a of non-holonomic vehicle.