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\author{Roland Hieber}
\title{Error Modeling of an Autonomous, Mobile Robot}
% \date{July 9, 2011}

\makeatletter
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  colorlinks=false, % FIXME turn of for printing
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\begin{document}
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\begin{titlepage}
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  \makeatletter
  \begin{center}
    {\large Braunschweig University of Technology}\\
    {\large Institute of Operating Systems and Computer Networks}\\[2cm]
    {\large Bachelor Thesis}\\[2cm]
    {\LARGE \@title \par}
    \vskip 6em
    {\large by}\\[.5em]
    {\large \@author}\\[7em]
    {\large \bf Thesis Advisors:}\\[.5em]
    {\large Prof.~Dr.~S\'andor P\@. Fekete}\\
    {\large Dr.~Alexander Kröeller}\\
    {\large Dipl-Inf.~Tobias Baumgartner}\\
    \par
    \vfill
    {\large Braunschweig - \today}
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\selectlanguage{ngerman}
\vspace*{7cm}
\centerline{\bf Erklärung}
\vspace*{1cm}
Ich versichere, die vorliegende Arbeit selbstständig und nur unter Benutzung
der angegebenen Hilfsmittel angefertigt zu haben.

\vspace*{3cm}
Braunschweig, den \today

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\vspace*{4cm}

\begin{center}
\begin{minipage}{0.7\textwidth}
\small
{\centering\large\textsf{\textbf{Abstract}}} \\
\flushleft
In this bachelor thesis, an iRobot Roomba is used as an instance of
an
autonomous, mobile robot. First its movement behavior is measured, and then
two different approaches are presented to correct the accuracy of its movement,
which results in a slight improvement over the original behaviour.

\vspace*{3cm}
{\centering\large\textsf{\textbf{Zusammenfassung}}} \\
\flushleft
In dieser Bachelorarbeit wird ein Roomba der Firma iRobot als
Beispiel für
einen autonomen, mobilen Roboter beschrieben. Sein Bewegungsverhalten wird
gemessen, und es werden zwei verschiedenene Verfahren vorgestellt, wie die
Genauigkeit der Bewegung verbessert werden kann, was in einer leichten
Verbesserung gegenüber dem ursprünglichen Verhalten resultiert.
\end{minipage}
\end{center}
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\input{preliminaries}
\input{experiment1}
\input{experiment2}
\input{experiment3}
\input{conclusion}
\input{implementation}

%\addcontentsline{toc}{chapter}{Index}
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\nocite{hacking-roomba}

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