+
+ amcl is a probabilistic localization system for a robot moving in
+ 2D. It implements the adaptive (or KLD-sampling) Monte Carlo
+ localization approach (as described by Dieter Fox), which uses a
+ particle filter to track the pose of a robot against a known map.
+
+
+ This node is derived, with thanks, from Andrew Howard's excellent
+ 'amcl' Player driver.
+
+
+