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One of the main challenges faced by robotics scientists is to provide autonomy to robots. That is, according to Medeiros (Medeiros, 1998) a robot to be considered autonomous must present a series of abilities as reaction to environment changes, intelligent behavior, integration of data provided by sensors (sensor fusion), ability for solving multiple tasks, robustness, operation without failings, programmability, modularity, flexibility, expandability, adaptability and global reasoning. Yet in the context of autonomy, the navigation problem appears. As described in Fig. 1, sense, plan and act capabilities have to be previously given to a robot in order to start thinking on autonomous navigation. These capabilities can be divided into sub-problems abstracted hierarchically in five levels of autonomy: Environment Mapping, Localization, Path Planning, Trajectory Generation, and Trajectory Execution (Alsina et. al., 2002).

Probabilistic Mapping by Fusion of Range-Finders Sensors and Odometry