Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Implementation 2D EKF-Based Simultaneous Localisation and Mapping for
  Mobile Robot   The main goal of this project is that the basic EKF-based SLAM operation can
be implemented sufficiently for estimating the state of the UGV that is
operated in this real environment involving dynamic objects. Several problems
in practical implementation of SLAM operation such as processing measurement
data, removing bias measurement, extracting landmarks from the measurement
data, pre-filtering extracted landmarks and data association in the observed
landmarks are observed during the operation of EKF-based SLAM system . In
addition, the comparison of EKF-based SLAM operation with dead reckoning
operation and Global Positioning System (GPS) are also performed to determine
the effectiveness and performance of EKF-based SLAM operation in the real
environment.

18
The categories of this paper are: econ
19
The categories of this paper are: eess
12
The categories of this paper are: nucl-th
6
The categories of this paper are: astro-ph
15
The categories of this paper are: nucl-ex
14
The categories of this paper are: math-ph
28
The categories of this paper are: alg-geom
2
The categories of this paper are: math
3
The categories of this paper are: physics
10
The categories of this paper are: q-bio
23
The categories of this paper are: solv-int
37
The categories of this paper are: supr-con
34
The categories of this paper are: chem-ph
5
The categories of this paper are: gr-qc
36
The categories of this paper are: cmp-lg
25
The categories of this paper are: patt-sol