My robot's position estimate
drifts [when and how much]. An
ordered diagnosis: odometry,
calibration, sensor timing, map
quality — with a test isolating
each cause.

Diagnose Localisation Drift

Ordered by likelihood, with an isolating test for each.

Prompt

My robot's position estimate drifts [describe when and how much]. Give me an ordered diagnosis — odometry, calibration, sensor timing, map quality — and the test that would isolate each cause.