mounted on
an iRobot Roomba~500\index{Roomba} robot. The netbook controlled the Roomba
over a
-\acs{USB}-to-serial converter plugged into the Open Interface \index{iRobot
-Roomba Open Interface} port on the
+\acs{USB}-to-serial converter plugged into the Open Interface \index{\acs{ROI}}
+port on the
Roomba, and hosted as the environment for executing the Wiselib \index{Wiselib}
-code (see Fig.~\ref{fig:roombasetup}).
+code (see Figure~\ref{fig:roombasetup}).
In the first experiment, the original movement behaviour of the Roomba was
measured to establish a pool of data for correction approaches to work on.