... compression circuit from in [Adams and Probert, 1995].(Reproduced with permission from [Adams and Probert, 1995].)138 Part II Systems and Methods for Mobile Robot Positioning odometry with the ... 06/15/95ccwcwxy Robot cwccw Robot Nominal square pathNominal square path Nominal square patha. b.140 Part II Systems and Methods for Mobile Robot Positioning Figure 5.9: Type A and Type B errors ... = x - x abs calcy = y - y (5.3)abs calc = - abs calc where x, y, = position and orientation er-rors due to odometryx , y , = absolute position and orienta-abs abs abstion of the robot x...