This thesis addresses the problem of localization and mapping in mobile robotics. The ability of a robot to build a map of an unknown environment from sensory information is required to perform self-localization and autonomous navigation. as a necessary condition to carry out more complex tasks. This problem has been widely investigated in the last decades. https://www.diegojavierfares.com/amazing-price-Kicker-48CDF104-Comp-10-Down-Firing-Loaded-Subwoofer-Enclosure-special-find/