This week I managed to find a bug in the code which initializes the particle filter when moving between maps.

This has enabled extended runs without the robot becoming lost in the simulator, and my general experience is that the real robot actually performs better due to the greater detail available in the real world.

Progress has also been made on placing constraints between maps, although it is appearing that the positional accuracy when moving between maps is worse that when creating them. As a result I'm considering only adding additional constraints between maps with very distant constraints such as for loop closure.