Derive the pose of a robot, given a sensor set that computes the robot’s position from two point landmarks using triangulation under the following assumptions: (a) The distance to each landmark can be...

Derive the pose of a robot, given a sensor set that computes the robot’s position from two point landmarks using triangulation under the following assumptions: (a) The distance to each landmark can be directly observed. (b) The absolute orientation to each landmark can be directly observed.