\chapter{Preliminaries}
-This chapter describes the preliminary topics. \todo{.}
-
-\section{Dead reckoning}
-The process of \definition{dead reckoning} describes an inexpensive method for
-relative positioning by computing a vehicle's position from an initial
-starting position and the covered distance and course it has moved. In the case
-of mobile robots, the covered distance can be simply computed in real time from
-the revolution of its wheels, or by accelerometers the robot may be equipped
-with. However, since the vehicle's current position is based on its previous
-position, and the distance measurement may be imprecise, dead reckoning has the
-disadvantage that errors in position calculation can cumulate and the error
-of the calculated position grows with time.
-
-Another approach to determine a vehicle's position is absolute positioning, for
-example satellite-based, over navigation beacons or by map matching. Still,
-these techniques are rather expensive to deploy, cannot (yet) be used in real
-time, or are even impreciser than relative approaches\cite{umbmark}, so dead
-reckoning can still be useful for the time being.
-
-In the following, the iRobot Roomba serves as an example of an autonomous,
-mobile agent, which can be used to implement dead reckoning for lack of either
-built-in absolute positioning and other relative approaches.
+In the following, basic concepts used in this thesis are described. In
+particular, there is a description of the iRobot Roomba, its hardware
+and software, and an overview of the Wiselib algorithm library that is used to
+control the Roomba.
\input{roomba}
\input{wiselib}
-
-Now that the prerequisites have been explained, it is time to assemble them all
-together and \todo{and what}
\ No newline at end of file
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