\chapter{Preliminaries}
+This chapter describes the preliminary topics. \todo{.}
\section{Dead reckoning}
The process of \definition{dead reckoning} describes an inexpensive method for
time, or are even impreciser than relative approaches\cite{umbmark}, so dead
reckoning can still be useful for the time being.
-\section{iRobot Roomba 500}
-Originally, the \definition{Roomba 500} is an autonomous vacuum cleaning robot,
-manufactured by the US-based company \definition{iRobot}. It has the size of a
-disc of about 34~cm in diameter and 9~cm in height; and normally follows its
-own, non-customizable logic to detect dirt and clean rooms. However, it is also
-easily controllable over a serial port, which provides a two-way
-communication at 5~V TTL levels over a Mini-DIN connector, with a speed of
-either 19,200 or 115,200 Baud. Over this serial port, the Roomba speaks a
-specified protocol, called the iRobot Roomba Open Interface \cite{irobot-oi},
-which allows the user to interact with the robot's internal logic, reading its
-sensor values, and control its movements and cleaning behaviour.
+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 our setup, the iRobot Roomba 500 is used as an instance of an autonomous,
-mobile robot to conduct the experiments described afterwards. For that, the
-Open Interface is used to control the Roomba's movements from a netbook which is
-running Wiselib code.
-
-\todo{picture of Roomba/netbook setup}
-
-\section{Wiselib}
-The \definition{Wiselib}\cite{wiselib} is a C++ algorithm library for sensor
-networks, containing for example algorithms for routing, localization and time
-synchronization, and is strongly focused on portability and cross-platform
-development. In particular, it allows the user to develop applications that run
-on different hardware platforms without the need to change the code, and it
-strongly uses C++ templates to achieve that feature. Amongst the supported
-platforms are diverse sensor node platforms, like iSense, Contiki and TinyOS,
-but there are as well implementations for the diverse x86-compatible Personal
-Computer platforms, and the Shawn sensor network simulator.
-
-Moreover, the Wiselib includes code to control the iRobot Roomba over a
-serial interface, and getting access to its internal sensor data, using the
-iRobot Roomba Open Interface mentioned earlier. \todo{cite Wisebed book
-chapter on Roomba code}
+\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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