The CMU Robotics Institute has released a new paper by Juan Pablo Gonzalez and Tony Stentz titled, Planning with Uncertainty in Position Using High-Resolution Maps (PDF format). The researchers present an approach to mobile robot navigation that allows accurate outdoor navigation without the use of GPS. A path planner calculates optimal trajectories using landmarks to localize the robot on a high resolution map. The robot relies on wheel encoders, fiber-optic gyros, and an initial estimate of the robot's starting position. The research was done as part of CMU's Collaborative Technology Alliance robotics program.