... encoder is attached) and thedrive wheel. We can compute the incremental travel distance for the left and right wheel, )U and )U ,L,i R,iaccording to )U = c NL/R, I m L/R, I and the incremental ... tested and usedin many different mobile robot control interfaces. The chip has proven to work reliably and accurately, and it is used on commercially available mobile robots, such as TRC LabMate and HelpMate. ... more landmarks must be "in view" to allow position estimation. Landmarkpositioning has the advantage that the position errors are bounded, but detection of externallandmarks and real-time...