Feedback (F3)

I thought the discussion of FastSLAM was good. My only comment is that it would be helpful to specify whether we know which landmark is observed at each step? From the paper, I think we do but I couldn't get this from the article.

To help better show the contribution of paper 2, it could be helpful to emphasise where paper 1 fits into paper 2 a little bit more - like when FastSLAM is the best method and when it is better to use another method from the survey paper. e.g. presumably if the Gaussian assumptions are unreasonable then there is another approach we should use.