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Skilled navigation in mobile robotics usually requires solving two problems pertaining to the knowledge of the position of the robot, and to a motion control strategy. When no prior knowledge of the environment is available, the problem becomes even more challenging, since the robot has to build a map of its surroundings as it moves. These three tasks ought to be solved in conjunction due to their interdependency. The present manuscript proposes a novel mobile robot navigation technique using adoi:10.4304/jcm.4.2.89-95 fatcat:bgmeizm3vndwvgkdxbdhjncej4