For the magnetic localization of the mobile robot we have mainly finished the evaluation sensor array based on 30 MAGMODULES. Regarding the software implementation of the MAGMODUL for the magnetic localization we have created a tool to insert reference points to eliminate odometry errors. The maps are now odometry error free. The hardware set-up of the whole mobile manipulator is almost finished and integration meetings have taken place.

The work performed for the magnetic tracking of boxes was described in the deliverable KANMAN.4 which is submitted in the meantime.