EKF-SLAM in the Robotarium

EKF-SLAM run on robots in the Robotarium. In this experiment I simulate the middle robot being incapacitated by an enemy ship, hence why it stops in the middle. Dashed lines trailing robots are the estimated trajectories for each robot, dashed circles around objects represent 2 sigma covariance ellipses of the estimation for the relevant items. Each robot runs it’s own filter and simultaneuously localizes itself and estiatmes the position of enemy ships.

EKF-SLAM run on robots in the Robotarium. In this experiment I simulate the middle robot being incapacitated by an enemy ship, hence why it stops in the middle. Dashed lines trailing robots are the estimated trajectories for each robot, dashed circles around objects represent 2 sigma covariance ellipses of the estimation for the relevant items. Each robot runs it’s own filter and simultaneuously localizes itself and estiatmes the position of enemy ships.

EKF-SLAM in the Robotarium Simulator

EKF-SLAM implementation run on the robotarium simulator. Dashed lines trailing robots are the estimated trajectories for each robot, dashed circles around objects represent 2 sigma covariance ellipses of the estimation for the relevant items. Each robot runs it’s own filter and simultaneuously localizes itself and estiatmes the position of enemy ships.

EKF-SLAM implementation run on the robotarium simulator. Dashed lines trailing robots are the estimated trajectories for each robot, dashed circles around objects represent 2 sigma covariance ellipses of the estimation for the relevant items. Each robot runs it’s own filter and simultaneuously localizes itself and estiatmes the position of enemy ships.

KF_Final_Paper.pdf