Here is a video clip of the platform in action at Robogames 2011.
The system was mostly dead reckoned, taking compass readings from point to point, and using odometry to determine the distance traveled. This system generated consistent behavior, which we then tuned on successive trial. As a method for navigating a field, it has its limitations.
In order to improve on this system, a more advanced method for keeping track of position needs to be implemented. Our early attempts at tracking the robot graphically might work if the visual elements were removed and the data was handled in the dark. The graphical interface was excellent for debugging purposes, but the accumulation of lag in the robot's position may be due to the increased processing requirements.