In this part, we will talk about localization which is a fundamental problem that a robot has to be able to solve in order to accomplish almost any tasks. In particular, we will start by
In this video, we want to discuss the case of a wheel encoders in 2D, and in particular the case of a robot equipped with a differential drive which is very popular in mobile robotics.
So far in the characterization of our sensor measurements, we didn't talk about the errors. This is precisely what we want to do in this video. In particular, we want to compute two probability
In this sequence I want to remind you a few concepts in the theory of probability and then in the next one we finally derive the equations of the Bayes filter. So the concept that I want to
We have seen the grid localization, and the advantage of this approach is that we can deal with any kind of probability distribution; in particular we don't need to do a Gaussian assumption. The
The equations of the Bayes filters are the equation that allow us to update the probability distribution for the robot to be in a given configuration by integrating the information that are in the
In this video I want to discuss the second two equations of the Kalman filter. And in particular I want to show that these actually perform a kind of weight mean.
In this video I want to explain the steps that we have to follow in order to implement an extended Kalman filter in robotics.
In this video, we are discussing the SLAM problem: simultaneous localization and mapping.
In this video we want to apply the observability rank criterion to understand the observability properties of the system that we saw in the previous videos.
In this video we discuss a fundamental issue which arises when we deal with an estimation problem: understanding if the system contains enough information to perform the estimation of the state.