  Small, low-cost radar sensors offer a lighting independent sensing capability
for indoor mobile robots that is useful for localization and mapping. Synthetic
aperture radar (SAR) offers an attractive way to increase the angular
resolution of small radar sensors for use on mobile robots to generate
high-resolution maps of the indoor environment. This work quantifies the
maximum synthesizable aperture length of our mobile robot measurement setup
using radar-inertial odometry localization and offers insights into challenges
for robotic millimeter-wave SAR imaging.
