“…Two means of localization have dominated the community: the use of external sensors to localize the robot (Kim et al, 2004;Borenstein and Feng, 1996b;Kim et al, 1999;Chung et al, 2001;Murata and Hirose, 1993;Adam et al, 1999;Chong et al, 1999;Jensfelt and Kristensen, 2001;Fox et al, 1999) and the filtering of odometry information to ascertain the robot's location relative to a starting location (Borenstein and Feng, 1996a;Larsen et al, 1998;Roy and Thrun, 1999;Martinelli et al, 2003;Wang, 1988;Kelly, 2004). The filtering, commonly referred to as dead-reckoning or deduced reckoning, suffers from inaccuracies caused by imprecise kinematic parameters and wheel slippage.…”