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Nowadays, nearly all mobile robotic tasks require some knowledge of the robot location in the environment. For example, those tasks involving the robot to reach a specific target require knowledge about the current robot pose in order to plan a path to the goal. Also, exploration tasks require some estimate of the robot pose in order to decide whether a specific region has been already visited by the robot or not. The problem of computing the robot pose is known as the

Mobile Robot Localization using Particle Filters and Sonar Sensors