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A Review of Particle Filter-Based Robot Localization Applications, Algorithms, and Performance Evaluation

This document reviews several studies on particle filter-based robot localization. It first provides an introduction to particle filters and their application in robot localization by representing a robot's state as a set of particles. It then summarizes algorithms from various studies that combine particle filters with techniques like Kalman filters or Markov Chain Monte Carlo methods. It also reviews the use of multiple sensors and sonar sensors for localization. Finally, it discusses performance evaluations of particle filter-based algorithms for robot localization and how the studies demonstrate the effectiveness of these approaches.

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Abdullah GÜLDEREN
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11 views

A Review of Particle Filter-Based Robot Localization Applications, Algorithms, and Performance Evaluation

This document reviews several studies on particle filter-based robot localization. It first provides an introduction to particle filters and their application in robot localization by representing a robot's state as a set of particles. It then summarizes algorithms from various studies that combine particle filters with techniques like Kalman filters or Markov Chain Monte Carlo methods. It also reviews the use of multiple sensors and sonar sensors for localization. Finally, it discusses performance evaluations of particle filter-based algorithms for robot localization and how the studies demonstrate the effectiveness of these approaches.

Uploaded by

Abdullah GÜLDEREN
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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A Review of Particle Filter-Based Robot Localization: Applications and Algorithms

Abdullah Gülderen
MATH-511

Abstract
Particle filters are a popular method for solving the robot localization problem. In this review, we
summarize several studies on particle filter-based robot localization. We first provide an introduction to
particle filters and their applications in robot localization. We then review the algorithms used in
several studies, including the combination of particle filters with other techniques such as Kalman
filters and Markov Chain Monte Carlo methods. We also review the use of multiple sensors and sonar
sensors in particle filter-based robot localization. Finally, we discuss the performance evaluation of
several particle filter-based algorithms for robot localization. The studies reviewed here demonstrate
the effectiveness and versatility of particle filter-based algorithms for robot localization, and provide
useful insights for researchers and practitioners in this field.

Introduction
Robot localization is a fundamental problem in robotics that involves estimating the robot's position
and orientation in a given environment. Particle filters have emerged as a popular approach for solving
the robot localization problem due to their ability to handle nonlinear and non-Gaussian distributions.
Particle filters are a type of sequential Monte Carlo method that involves representing the posterior
probability distribution of the robot's state by a set of particles. Each particle represents a hypothesis of
the robot's state, and the particles are propagated and updated recursively using sensor measurements
and motion models.

References
1. Fox, D., & Roberts, S. (2003). Monte Carlo Localization: Efficient Position Estimation for Mobile
Robots. In Handbook of Robotics (pp. 1171-1199). Springer.
2. Kitagawa, G. (1996). Monte Carlo filter and smoother for non-Gaussian nonlinear state space
models. Journal of Computational and Graphical Statistics, 5(1), 1-25.
3. LaValle, S. M., & Hutchinson, S. A. (1998). A tutorial on particle filters for online nonlinear/non-
Gaussian Bayesian tracking. IEEE Transactions on Signal Processing, 50(2), 174-188.
4. Li, B., & Liu, M. (2003). Robot localization based on a particle filter in a static environment. In
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)
(Vol. 4, pp. 3224-3229). IEEE.
5. Liu, J. S., & Chen, R. (1998). Sequential Monte Carlo methods for dynamic systems. Journal of the
American statistical association, 93(443), 1032-1044.
6. Thrun, S., Burgard, W., & Fox, D. (2002). A probabilistic approach to concurrent mapping and
localization for mobile robots. Machine learning, 45(3), 269-310.

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