1. A reminder of single-bot SLAM

1.1 Definitions

The literature sometimes gives definitions that can have different interpretations depending on the context. To avoid any ambiguity, we define here the terms that will be used in the rest of the article.

Position: Cartesian coordinates of a robot. In the plane, position is given by the coordinates {X, Y}.

Pose: position and orientation of a robot. In the plane, pose is given by coordinates {X, Y} and orientation {θ}.

Localization: calculating the position of a robot in its environment.

Mapping: action of creating a partial or complete map of the robot(s) environment.

Navigation: the action of moving robots. The purpose of navigation can be to map the...