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be used to improve the quality of the global map. Improvements in colocation
accuracy should be possible allowing either the extension of the range over
which cooperative localization is possible or reducing the separation of the
targets so that they may be mounted on one robot thus allowing cooperative
mapping with only two robots. These improvements in colocation accuracy
would primarily come from over-sampling the least squares fitting algorithm.
Although multiple sensors and multiple landmarks have been adopted in
the proposed navigation system, they have been independently investigated
and tested so far. A natural extension of future research is to investigate the
integration of three landmark-based navigation algorithms. Moreover, the pro-
posed navigation algorithms have potential applications for service robots in
homes, offices, and hospitals. It can also be used for outdoor beacon-based
navigation such as GPS navigation systems.

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