@inproceedings{Antonelli2003f,
  author = {Antonelli, Gianluca and Chiaverim, Stefano and Fusco, Giuseppe},
  title = {Exciting trajectories for mobile robot odometry calibration},
  booktitle = {IFAC Proceedings Volumes (IFAC-PapersOnline)},
  volume = {36},
  number = {17},
  doi = {10.1016/S1474-6670(17)33422-5},
  issn = {ISSN(print='14746670', electronic=None)},
  abstract = {Copyright © IFAC Robot Control, Wrocław, Poland, 2003.Odometry calibration is the identification of a set of model parameters that allows to estimate the vehicle position/orientation starting from wheels' encoders measurements. Usually the calibration is achieved using measurements obtained by trial-and-error or heuristic trajectories; these approaches may eventually lead to ill-conditioned numerical problems. In this paper, a least-squares methods is proposed and the optimality of the measurement set is evaluated. Experimental results confirm the efficiency of the algorithm developed.},
  year = {2003},
}

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