  Analytical approach to SLAM problem was introduced in the recent years. In
our work we investigate the method numerically with the motivation of using the
algorithm in a real hardware experiments. We perform a robustness test of the
algorithm and apply it to the robotic hardware in two different setups. In one
we try to recover a map of the environment using bearing angle measurements and
radial distance measurements. The another setup utilizes only bearing angle
information.
