... compression circuit from in [Adams and Probert, 1995].(Reproduced with permission from [Adams and Probert, 1995].)1 38 Part II Systems and Methods for Mobile Robot Positioning odometry with the ... intuitive and widely used (e.g., [Borenstein and Koren, 1 987 ; Cybermotion, 1 988 ;Komoriya and Oyama, 1994; Russell, 1995], but it is a fundamentally unsuitable benchmark test for differential-drive mobile ... ft6 ftMinivan1 28 Part I Sensors for Mobile Robot Positioning Figure 4. 38: The Vehicular Obstacle Detection and Warning System employs amodified FMCW ranging technique for blind-spot detection...