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This algorithm is for positioning of robot in various kinds of geographical situations

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JuliaAutonomy

Linux_CI codecov
Julia codes for Autonomy, Robotics and Self-Driving Algorithms.

Table of Contents

About this repository

This repository is a Julia sample codes collection of Autonomy, Robotics and Self-Driving Algorithms.
I've been inspired by and referring to the following projects.

How to use

  1. Clone this repository.
git clone https://github.com/ShisatoYano/JuliaAutonomy.git
  1. Install the required packages.
julia> include("setup.jl")
julia> Setup.install_packages()
  1. Execute Julia script in each directory.
    For example,
julia> include("src/localization/particle_filter/random_sampling/anime_mcl_rand_samp.jl")
julia> AnimeMclRandSamp.main()
  1. Add star to this repository, if you like it.

Requirements

  • Julia 1.6.x
  • Plots
  • DataFrames
  • CSV
  • Test
  • StatsPlots
  • Statistics
  • FreqTables
  • NamedArrays
  • Distributions
  • LinearAlgebra
  • StatsBase
  • PDMats
  • Combinatorics
  • SpecialFunctions

Sample codes

Localization

Particle Filter

Monte Carlo Localization by Particle Filter
considering Random Sampling

KLD(Kullback-Leibler Divergance) Sampling

Kalman Filter

Localization by Extended Kalman Filter

Reset Process

Adaptive reset MCL for kidnapped robot problem

Expansion + Sensor reset MCL for kidnapped robot problem

SLAM

FastSLAM 1.0

FastSLAM 2.0

Graph-based SLAM

Decision Making

Markov Decision Process

Reinforcement Learning

Partially Observable Markov Decision Process

Parameters Inference

Analyzing mixture model

License

MIT

Contribution

Any contribution is welcome.

Author

Shisato Yano (@4310sy)

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This algorithm is for positioning of robot in various kinds of geographical situations

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