Required Reading – "Where am I?"
I firmly believe that there no totally new and unique problems that present themselves. Every problem we face has been faced by others before us, and they have met with various levels of success and failure. That being said, it would be beneficial to invest a little time and effort to learn what they learned - to profit from their success, and avoid repeating their mistakes.
With that in mind, some research into robot drive and positioning problems uncovered a wonderful 1996 report entitled "Where am I?" - Systems and Methods for Mobile Robot Positioning. It includes 282 pages, 200 illustrations, and 400 references. Best of all - it's totally free and available online in pdf format.
Link: Where am I?.
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