“…(Pilgrim, 2004) .... 18 Odometry based systems, also known as "dead reckoning" systems, are very reliable and accurate on smooth, flat terrain and over short distances. However, when traversing rough terrain, especially soft surfaces like sand or gravel in which the terrain itself can move, dead reckoning based systems are typically not considered useful because wheels slip and the measured rotation does not accurately reflect the distance truly traveled (Ojeda, Cruz, Reina, & Borenstein, 2006). Much research is being conducted in this field to improve the accuracy and simplify the systems that are being implemented on various platforms.…”