Experimental EKF-based SLAM for Mini-rovers with IR Sensors Only

The performances of an EKF-based SLAM approach are experimentally discussed in the case of a mini-robot equipped with low-cost IR sensors only, showing that despite of the sparseness and noisiness of the sensors, SLAM experiments using classical SLAM methods can be performed even on a Khepera robot in a real arena, whose dimensions may be significantly larger than the robot size. The main characteristics of the SLAM approach and of the used sensors are described in the paper, which illustrates and discusses the performed tests and their results.