We are researching robot localization techniques which fuse dead reckoning measurements with range measurements from stationary radio beacons in the robot s environment. This site provides Matlab code for three algorithms explored thus far -- an Extended Kalman Filter, a Particle Filter, and a Sliding Batch method -- as well as .mat files containing data collected from a robot driving and receiving range measurements over different paths. Two such data sets are provided.

pf\circle.m
..\distanceParAndPerp.m
..\errors.m
..\mypf.m
..\numrows.m
..\pf_init.m
..\pf_plot.m
..\pf_stats.m
..\pf_update.m
..\range_func.m
..\show.m
..\usefig.m

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