PPT Slide
Robot Localization as State Estimation
Integration of Sensor Information
Integration of Robot Motion
Markov Localization Algorithm
Multi-robot Localization: Idea
Robot Detection
Model of Detection Sensor
Multi-robot Localization
Belief Update in Multi-robot Localization
Density Trees
Example Situation
Marian’s Belief
Marian’s Belief about Robin’s Position
Tree Representation
Observation Density
Importance Sampling
Robin’s Belief after Resampling
Example Run
Experimental Results (1)
Experimental Results (2)
Related Work on Multi-Robot Localization
Problems
Email: dfox@cs.cmu.edu
Home Page: www.cs.cmu.edu/~dfox