This is a nice little book. It introduces some important concepts in an overall very readable text. Of course the book doesn't offer much technical detail or any real code but sometimes it comes close. If you already have any experience in programming you can easily get the point in the example pseudo codes and adapt them for your own use.There is a major problem about this book though. The online robot simulation program was available from the link given inside the book but this website is not active anymore so you can not practice the ideas using the "bsim" program.I have to make a revision about the Bsim applet and the website. The website is up and running but the URL is not [...] anymore. It may be found at [...]. (02.Jan.2010)