Derive the GDOP for a robot that computes its position from two point landmarks using triangulation under the following assumptions: (a) The distance to each landmark can be directly observed with an...

Derive the GDOP for a robot that computes its position from two point landmarks using triangulation under the following assumptions: (a) The distance to each landmark can be directly observed with an uncertainty that varies linearly with distance. (b) The absolute orientation to each landmark can be directly observed. (c) The distance to each landmark can be directly observed with an uncertainty that is independent of distance