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Table 1 Simulation condition

From: Probabilistic double guarantee kidnapping detection in SLAM

Condition Value
Robot speed 0.3 m/s
Control cycle 0.2 s
Observation cycle 0.2 s
Max range of observation 3 m
Variance of speed noise 0.09 m/s
Variance of orientation noise
Variance of observation position noise 0.01 m
Variance of observation angle noise