E-SLAM solution to the grid-based Localization and Mapping problem

@article{Moreno2007ESLAMST,
  title={E-SLAM solution to the grid-based Localization and Mapping problem},
  author={Luis Moreno and M. L. Murioz and Santiago Garrido and Fernando Martin},
  journal={2007 IEEE International Symposium on Intelligent Signal Processing},
  year={2007},
  pages={1-7}
}
A new solution to the simultaneous localization and modelling problem is presented. It is based on the stochastic search of solutions in the state space to the global localization problem by means of a differential evolution algorithm. A non linear evolutive filter, called evolutive localization filter (ELF), searches stochastically along the state space for the best robot pose estimate. The proposed SLAM algorithm operates in two steps: in the first step the ELF filter is used at a local level… CONTINUE READING