We actually fuse the odometry measurements with those of a Hagisonic Stargazer, which is in infrared based indoor positioning system. We run both of these sensors through an unscented kalman filter, which gives us the position to within a few centimeters, without any drift over time. You can see the details of the positioning system at: http://pacman.elstonj.com/index.cgi?dir=hardware/Hagisonic%20Stargazer&num=&perpage=§ion=
elstonj writes "The vacuum, long an instrument for chasing cats, has now been turned against its own. What better use for automatic home appliances than to have them chase each other in classic video game style? From the article: 'We've seen mixtures of Roomba and Pac-Man before, but nothing like this. A team of developers have hacked five floor-cleaning bots to create a sort of OCD version of the game, with the Pac-Man bot sucking up little white rectangles whilst being chased by robot incarnations of Inky, Pinky, Blinky, and Clyde. But, when the Pac-Man vacuum finds a power pellet those ghostly rovers turn blue and start fleeing. The tech is supposed to be a demonstration of the developers' Unmanned Aerial System suite, designed for guidance of airborne vehicles, but we're too busy geeking out to care about potential real-world applications of this tech.'"