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- W2189458120 abstract "A newsolution totheSimultaneous Localization and improved inthemostrecent work. Ontheother hand, however, Modelling problem ispresented. Itisbasedonthestochastic thelinear nature ofthebasic methodrequires linearization of search ofsolutions inthestate space totheglobal localization themotion andperception models whichcauses problems inthe problembymeansofadifferential evolution algorithm. A non linear evolutive filter, called Evolutive Localization Filter (ELF),long erm.roreover, the teche has dfficul emodell searches stochastically along thestate space forthebest robot posemanyenvironment areas duetothelimited setoffeature models estimate. Theproposed SLAM algorithm operates intwosteps:used. inthefirst steptheELF filter isusedatalocal level tore-localize therobot based ontherobot odometry, thelaser scanatagiven Thesecond groupofsolutions useparticle filters toobtain position andalocal mapwhereonlyalownumberofthelastasolution totheSLAMproblem. Thisgroupofsolutions can scanshavebeenintegrated. Ina secondstepthealigned laserusecertainty grid mapmodels orafeature maptorepresent the measures together withthecorrected robotposesareusetodetect whentherobot isrevisiting apreviously crossed area. Onceacycleenvironment (12), andthesequential MonteCarlo methods to isdetected, theEvolutive Localization Filter isusedagain tore- estimate theposterior probability distribution functions. This estimate therobot poses inorder tointegrate thesensor measuresapproach hasproved tobeveryrobust fromastatistical point intheglobal mapoftheenvironment. Thealgorithm hasbeen ofviewinthemanagement oftheuncertainties present inthe tested indifferent environments todemonstrate theeffectiveness, problem. Its disadvantage isthat thenumber ofparticles required robustness andcomputational efficiency oftheproposed approach. increases thecomputational costandthealgorithm robustness is KeVwords - SLAM,LocalPositioning Systems, Mobilerobots, heavily dependent onthis because eachparticle hasastatistical" @default.
- W2189458120 created "2016-06-24" @default.
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- W2189458120 date "2007-01-01" @default.
- W2189458120 modified "2023-09-26" @default.
- W2189458120 title "E-SLAMsolution tothegrid-based Localization andMapping problem" @default.
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