... robot.v(t)ω(t)θXIXIp'p'x'y'θ'p∆s θ∆ 2 +()cos∆s θ∆ 2 +()sin∆θ+xyθ∆s θ∆ 2 +()cos∆s θ∆ 2 +()sin∆θ+== =∆s∆θ;() Mobile Robot Localization 20 1One example of such a representation, shown in figure 5. 12, is a 2D representation ... are partic-ularly appropriate for study given their significant recent successes in enabling mobile robots to navigate a variety of environments, from academic research buildings, to factoryfloors, ... coordinate space. This issimilar to the method used by Latombe [21 , 98] and others to represent environments for mobile robot path-planning techniques.In the case of [21 , 98], most of the experiments...