\chapter{Conclusion and Future Work}
The previous chapters have presented the original motion behavior of the
Roomba, besides two different approaches to improve dead reckoning. This goal
could be reached only in parts, for laminated floors using the mean correction
in Experiment~2. However, there is still many potential to work towards that
goal.

The set of measured data in this work was relatively small to serve as a
good representation of the world. Only two types of floors were used, and a
fixed set of parameters for the movements. One possibility here is to widen the
data set, probably using not only fixed values but maybe also a stochastic
approach to determine the input values. Furthermore, only the target distance
resp. orientation, and the velocity were considered as factors to affect the
measured value. There are still much other factors to consider, for example the
voltage and capacity of the Roomba's internal battery. Also, the Roomba can
move not only in straight lines and turn on the spot, but also drive arcs.
Additionally, it is not sure how different robots or different Roomba
models behave when it comes to movement.

As mentioned in Section~\ref{sec:exp2:results}, a quadratic regression could be
applied to the data, which results in a better fit function and a closer
approximation to the measured data. This may probably improve the mean
correction approach from Experiment~2, and also correct errors better when
driving on carpet floors.