... positioning and navigation of underwater vehicles, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2759–2766 Frontiers in Robotics, Automation and Control ... International Symosium on Robotics and Automation, Mexico, August 25-28 Savelli, F. & Kuipers, B. (2004). Loop-closing and planarity in topological map building, International Robotics and Systems, ... However, for section T2 and T3, the variance decreases by half compared to the initial variance, and approaches the actual average variance. Frontiers in Robotics, Automation and Control 296...