Tham khảo tài liệu 'mobile robots perception & navigation part 18', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Robot Collaboration for Simultaneous Map Building and Localization 671 objects in the map to the current robot positioning in order to avoid using the whole set of objects which increases substantially the complexity of the algorithm. This leads to a local map of the environment used for updating and data association purposes. This helps in the decision making process of adding a new object to the map or not. Indeed if for example the sensors are observing an object at much closer range than the closest mapped object then the observed object is added to the map as described earlier. With the ability to know the robots location and correctly add objects to the map around that location the system can map out the environment the robots are in. To map the perimeter of the environment a robot will travel forwards constantly checking its sensors. When a sensor detects an object any necessary adjustments are made to the map as described above then the robot turns to align itself with the object and then continues to travel forward. At set intervals set by the required resolution of the map and robot speed the robots location is updated and the object detected is added to the map. User s Interface The interface consists of three parts the console the display and the menu. These can be seen in Figure 4. The console is the most diverse aspect of the interface in that it has the most uses. Firstly the internal workings of the system can be displayed in text format using the console. This can range from simply displaying the current state of the system such as robot coordinates and orientation to the most recent recorded values such as sensor turret and odometer readings to the actual values being calculated and used in a process. The console also allows the user to enter custom data into the system such as providing a filename to save a map as. Aside from the need to enter filenames of maps to load or save the console can be mainly ignored for general system usage. Fig. .