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This paper proposes trajectory tracking algorithm for differential drive type of Automatic Guided Vehicle (AGV) using backstepping control and simultaneous localization and mapping (SLAM). To guarantee the tracking errors go to zero, backstepping control method is proposed. By choosing appropriate Lyapunov function based on its kinematic modeling, system stability is guaranteed and a control law can be obtained. For its positioning, simultaneous localization and mapping (SLAM) algorithm is employed. The landmarks are detected using spike algorithm. The AGV position can be estimated using Kalman filter by combining the encoder result and landmark positions. The simulation and experimental results show that the proposed controller successfully tracks the given trajectory.

The lesson learnt of revitalization of market buildings is still a dilemma for traders as the main actors of traditional Indonesian market life. The root of the revitalization issue has not been properly mapped objectively, due to the complex role of the stakeholders involved in it. This research uses case study method with a qualitative approach by semistructured interviews and observation of typology of Indonesian traditional market activities in five metropolitan cities of Java. This study uses four samples of traditional markets, one in Jakarta and three revitalized markets in Semarang. The mapping of the component is composing by field observation and Focus Group Discussion (FGD) with a civil engineer and two architects. The results of this study obtained justification that the revitalization of traditional Indonesian market if mapped components are factors that affect the success or failure of a revitalization process when compared to some case studies of market revitalization in Jakarta and Semarang. This research suggests to the local decision makers to avoid the paradigm of budget-based development but, also to adapt socioengineering aspects by considering the social interaction of traditional market traders in the Indonesian context.