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This paper proposes a novel Simultaneous Localization and Mapping (SLAM) based on distributed particle updates for landmark mapping and validates it with an HF-band RFID-based mobile robot. Multiple RFID readers are embedded at the bottom of an omni-directional vehicle and tags are installed on the floor. The IC tags are used as landmarks of the environment. FastSLAM[1] uses particles to estimate...
This paper analyzes the MCL (Monte Carlo Localization) performances of an omnidirectional vehicle based on an RFID system with multiple readers at the bottom of a vehicle and the tags on the floor with different configurations of RFID system. This paper also proposes a method of reinitializing of the particles in the MCL and a likelihood function as the measurement model that are specialized to the...
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