Kiva: A Connection to the Rumba Cup Competition

When I started as a professor at Cornell University, I decided that I wanted to get into mobile robots. It's something that I felt was no one was really doing research in the area. And then when I was on sabbatical at MIT, I met Mick Mounce, who had the idea to do Kiva System. So Pete Wurman, Mick Mounce and I started Kiva way back in 2003. We took a very kind of dynamics and controls approach to the problem.