Particle Filters for Fun and Profit Nick Roy December 1 st, 2003 16.410 Remove Video link. Robot Localization | 3 canonical problems ? Position Tracking ? Global Localization ? Kidnapped Robot problem | Not the mapping problem. We always assume we have a map. ? To start without a map or model is the “Simultaneous Localization and Mapping problem”, or SLAM. Also known as Concurrent Mapping and Localization. Position Tracking Where am I now? I take an action State Space I was here Global Localization State Space I start with no position information. Where am I? Kidnapped Robot Problem I take an I get moved action without my knowledge Can I tell I’m not where I thought I was? State Space I was here I think I am here. Where am I now? Assumptions (without loss of generality) | Metric, grid-based map | Pseudo-holonomic robot, operating in the plane | 360° field-of-view range sensor