GPS based calibration and configuration discovery

[merlinran]

Random thought, not sure if feasible.

The existence of RTK GPS may allow robot to discover its configuration by repeatedly guessing a value, moving a bit on a flat surface, comparing the errors between dead reckoning and precise location, and adjusting the guess accordingly. The discoverable configuration may include the distances between the position reference point and each wheel, the size of the wheels, which controller corresponds to which wheel, etc. It would help amateurs a lot to get a robot up and running.

Once discovered and calibrated, it may also be able to guess the terrain by the same trick, in order to adjust the output.