Dead-Reckoning is a common method of robot navigation. The new issue of the SRS Encoder includes an article by G. W. Lucas of the Connecticut Robotics Society on the subject entitled, Using a PID-based Technique for Competitive Odometry and Dead-Reckoning. The article details the software he developed to navigate his robot through a course containing over 20 feet of corridors and multiple 90 degree turns with a final accuracy of 5cm. This article is a great starting place for anyone wishing to implement a PID dead-reckoning algorithm.