Recent Results in Extensions to Simultaneous Localization and Mapping

We report experimental results with bearings-only and range-only Simultaneous Localization and Mapping (SLAM). In the former case, we give the initial results from a new method that extends optimal shape-from-motion to incorporate angular rate and linear acceleration data. In the latter case, we have formulated a version of the SLAM problem that presumes a moving sensor able to measure only range to landmarks in the environment. Experimental results for both are presented.