A method used by a robot for simultaneous localization and map-building,
including: initializing a pose of the robot and locations of landmarks;
sampling a new pose of the robot during motion of the robot, and
constructing chromosomes using the locations of the landmarks; observing
the landmarks from a present location of the robot; generating offspring
from the chromosomes; and selecting next-generation chromosomes from the
chromosomes and the offspring using observation values of the landmarks.