Sensing is a key requirement for any but the simplest mobile behavior. In order for Robot to be able to warn the crew of Lost in Space that there is danger ahead, it must be able to sense and reason about its sensor responses. Sensing is a critical component of the fundamental tasks of pose estimation – determining where the robot is in its environment; pose maintenance – maintaining an ongoing estimate of the robot’s pose; and map construction – building a representation of the robot’s environment.
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