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A compact suite of Kalman filter and its nonlinear variants including Extended Kalman filter, Unscented kalman filter, Error State EKF, Invariant EKF, Square Root EKF, Cubature etc. Process model based on differential drive and ackerman kinematics.
Labs for the Robot Learning class, focusing on robotics and Reinforcement Learning. Each lab focuses on a different topic, had mandatory tasks and eventually extensions. All the results have been discussed in the reports.
The Matlab scripts for five positioning algorithms regarding UWB localization. The five algorithms are Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Taylor Series-based location estimation, Trilateration, and Multilateration methods.
Sensor fusion in vehicle localisation and tracking is a powerful technique that combines multiple data sources for enhanced accuracy. This project applies and compares two TDOA sensor networks and WLS and Kalman Filter based localisation and tracking techniques.
Merging iRobot Create2 with ROS to explore autonomous mapping, navigation, and path planning. This project is a platform for professional development in robotics, focusing on SLAM, sensor fusion, and practical experimentation.