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Our research addresses how to integrate exploration and localization for mobile robots. A robot exploring and mapping an unknown environment needs to know its own location, but it may need a map in order to determine that location. In order to solve this problem, we have developed ARIEL, a mobile robot system that combines frontier based exploration with continuous localization. ARIEL explores by navigating to frontiers, regions on the boundary between unexplored space and space that is known to be open. ARIEL finds these regions in the occupancy grid map that it builds as it explores the world. ARIEL localizes by matching its recent perceptions with the information stored in the occupancy grid. We have implemented ARIEL on a real mobile robot and tested ARIEL in a real-world office environment. We present quantitative results that demonstrate that ARIEL can localize accurately while exploring, and …