  This paper deals with the localization problem of mobile robot subject to
communication delay and packet loss. The delay and loss may appear in a random
fashion in both control inputs and observation measurements. A unified
state-space representation is constructed to describe these mixed
uncertainties. Based on it, the optimal linear estimator is developed. The main
idea is the derivation of a relevance factor to incorporate delayed
measurements to the being estimate. The estimator is then extended for
nonlinear systems. The performance of this method is tested within the
simulations in MATLAB and the experiments in a real robot system. The good
localization results prove the efficiency of the method for the purpose of
localization of networked mobile robot.
