For many tasks, a mobile robot needs to know “where it is” either on an ongoing basis or when specific events occur. A robot may need to know its location in order to be able to plan appropriate paths or to know if the current location is the appropriate place at which to perform some operation. Knowing “where the robot is” has many different connotations. In the strongest sense, “knowing where the robot is” involves estimating the location of the robot (in either qualitative or quantitative terms) with respect to some global representation of space: we refer to this as strong localization.
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