Center for Analysis and Design of Intelligent Agents

In this session we will look at how to use particle filtering for localization of a robot. You can work together in groups. Hand in the results in MySchool, this lab counts as one assignment.

Use the following simulator (includes source code):

• particle.zip

• Implement the missing parts of ParticleFilter.java
• Experiment with the settings for noise, number of sensors and number of particles to see the influence on how fast the agent knows its position and how good the estimate is.
• Try out what happens if you do not add additional noise in the resampling step.

Hand in:

1. Your code.
2. A few sentences on your observations.