By Or Tslil, Tal Feiner
Particles Intersection (PI) is a method to fuse multiple particle filter estimators, where the cross-dependencies of the observations is unknown. This package contain a PI implembtation for fusion the particle filters that estimates the state of a robot in a flat space. This package contain two main nodes:
- particle_filter.py - an implemantation of a particle filter for robot localization using [1].
- particlesintersection.py - an implemantation of a particle intersection for cooperative localization using [2].
The following python packges are required:
- python 2.*
- numpy
- matplotlib
- sklearn
- sciPy
- teb_local_planner for move_base
For a simulation with 3 robots and move_base controller use:
roslaunch mcl_pi_move_base.launch
For a remote control (needs 3 controllers) use:
roslaunch mcl_pi.launch
[1] Thrun S, Burgard W, Fox D. Probabilistic robotics. MIT press; 2005 Aug 19.
[2] Tslil, Or, and Avishy Carmi. "Information fusion using particles intersection." 2018 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). IEEE, 2018.
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