Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Concurrent Flow-Based Localization and Mapping in Time-Invariant Flow
  Fields   We present the concept of concurrent flow-based localization and mapping
(FLAM) for autonomous field robots navigating within background flows.
Different from the classical simultaneous localization and mapping (SLAM)
problem, where the robot interacts with discrete features, FLAM utilizes the
continuous flow fields as navigation references for mobile robots and provides
flow field mapping capability with in-situ flow velocity observations. This
approach is of importance to underwater vehicles in mid-depth oceans or aerial
vehicles in GPS-denied atmospheric circulations. This article introduces the
formulation of FLAM as a full SLAM solution motivated by the feature-based
GraphSLAM framework. The performance of FLAM was demonstrated through
simulation within artificial flow fields that represent typical geophysical
circulation phenomena: a steady single-gyre flow field and a double-gyre flow
field with unsteady turbulent perturbations. The results indicate that FLAM
provides significant improvements in the robots' localization accuracy and a
consistent approximation of the background flow field. It is also shown that
FLAM leads to smooth robot trajectory estimates.

30
The categories of this paper are: q-alg
0
The categories of this paper are: hep-ph
29
The categories of this paper are: funct-an
17
The categories of this paper are: q-fin
9
The categories of this paper are: nlin
2
The categories of this paper are: math
25
The categories of this paper are: patt-sol
14
The categories of this paper are: math-ph
4
The categories of this paper are: cond-mat
34
The categories of this paper are: chem-ph
28
The categories of this paper are: alg-geom
22
The categories of this paper are: chao-dyn
36
The categories of this paper are: cmp-lg
35
The categories of this paper are: mtrl-th
16
The categories of this paper are: stat
23
The categories of this paper are: solv-int