... compression circuit from in [Adams and Probert, 19 95].(Reproduced with permission from [Adams and Probert, 19 95].) 13 8 Part II Systems and Methods for Mobile Robot Positioning odometry with the ... al., 19 81; Borenstein and Koren, 19 85; Cox, 19 91] can be shown to have the same short-comings as the uni-directional square path.5.2 .1. 2 The Bidirectional Square-PathExperimentThe detailed example ... Section5.2 .1. 1, is intuitive and widely used (e.g., [Borenstein and Koren, 19 87; Cybermotion, 19 88;Komoriya and Oyama, 19 94; Russell, 19 95], but it is a fundamentally unsuitable benchmark test for differential-drive...