Concepts

These pages explain the theory underlying the MOLA architecture, as well as the key elements of a MOLA SLAM system.

• Overview of the MOLA arquitecture
• SLAM state vector
• SLAM system YAML configuration file format
  • File structure
  • YAML extensions
• MOLA module paths
  • Module binary library paths
  • Module shared files paths
• Simulation vs. real time
  • Goal
  • Rules to follow