Complex sentence: Maps are used to determine a location within an environment and to depict an environment for planning and navigation; they support the assessment of actual location by recording information obtained from a form of perception and comparing it to a current set of perceptions.
Split into simpler sentences: Maps are used to determine a location within an environment and to depict an environment for planning and navigation. They support the assessment of actual location by recording information obtained from a form of perception and comparing it to a current set of perceptions.