“…Researchers have developed a variety of systems sensors, and techniques for mobile robot positioning. (Borenstein et al, 1997) define seven categories for positioning system: Odometry, Inertial Navigation, Magnetic Compasses, Active Beacons (Trilateration method and Triangulation method), Global Positioning Systems, Landmark Navigation, and Model Matching. Some experimental systems that work on localization are using mobile robots equipped with sensors that provide range and bearing measurements to beacons (Witkowski and Rückert, 2002) and some other work with vision sensors (Chinapirom et al, 2004).…”