www.cs.washington.edu - UW Robotics and State Estimation Lab

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2
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probability
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Duration: 2 hours
Distance: 1000 meters
Duration: 4.8 hours
Distance: 1540 meters
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Denesely populated
Sparcely populated
Noise [%]
60
40
20
1000
4000
7000
10000
13000
16000
Time [sec]
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final position
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Distance at final position: 19 cm
Certainty at final position: 0.003
final position
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50
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350
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distance [cm]
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maximum likelihood
probability
0.8
0.6
µ DWA
0.4
0.2
0
0
( $ 9 , $/621 EG*-H GI K 0
3
100
200
300
400
500
distance d [cm]
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number of considered positions
1.4
1.2
time [sec]
1
0.8
0.6
0.4
0.2
0
0
20
40
60
14000
1
12000
0.98
10000
0.96
probability
1.6
8000
6000
0.94
0.92
4000
2000
0.9
0
0.88
698
80 100 120 140 160 180 57
200
time [sec]]
0
20
40
60
:8
80 100 120 140 160 180 5"
200
time [sec]]
0
20
40
60
80 100 120 140 160 180 5 200 8
time [sec]]
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d+D1

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Map Builder
Localization
Path Planner
Collision
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