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SLAM, localization, and state estimation algorithms for a simple 2D robot in python. Consists of homework and projects of ME595R autonomous systems taken in Fall 2019 at BYU. Algorithms based on ones from Probabilistic Robotics textbook by Thrun, Burgard, and Fox.

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MIT license
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ryan-dd/autonomous-systems

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ekf_slam

ekf_slam

 
 

extended_information_filter

extended_information_filter

 
 

extended_kalman_filter

extended_kalman_filter

 
 

fast_slam

fast_slam

 
 

heading_range_robot

heading_range_robot

 
 

kalman_filter

kalman_filter

 
 

mdp_planning

mdp_planning

 
 

occupancy_grid_mapping

occupancy_grid_mapping

 
 

particle_filter

particle_filter

 
 

pomdp_planning

pomdp_planning

 
 

tools

tools

 
 

unscented_kalman_filter

unscented_kalman_filter

 
 

.gitignore

.gitignore

 
 

LICENSE

LICENSE

 
 

README.md

README.md

 
 

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autonomous-systems

Repo for homework and projects of ME595R, autonomous systems. Primarily consists of localization and SLAM algorithms for a robot in 2D space with noisy velocity and heading commands.

To run a module:

python3 -m extended_kalman_filter.run_sim

Requirements

Numpy

Scipy

Matplotlib

Sklearn

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SLAM, localization, and state estimation algorithms for a simple 2D robot in python. Consists of homework and projects of ME595R autonomous systems taken in Fall 2019 at BYU. Algorithms based on ones from Probabilistic Robotics textbook by Thrun, Burgard, and Fox.

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Readme

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