A Rapidly Converging Recursive Method for MobileRobot

This paper proposes a simple method for estimating the position of a robot from relatively few sensor readings. Our algorithms are intended for applications where sensor readings are expensive or otherwise limited and the readings that are taken are subject to considerable errors or noise. Our method is capable of converging to a position estimate with greater accuracy using fewer measurements than other methods often used for this type of application, such as the Kalman and extended Kalman lters. Our approach is validated using a mobile robot on which a camera is used to obtain bearing information with respect to landmarks in the environment.