Written in Common Lisp and (rarely) other stuff for SKN Noesis Lisp/AI workshops. Contains:
Implementation and a simple web-app demonstrating Markov localization algorithms at work.
Usage:
CL-USER> (load "visualmarkov.lisp") CL-USER> (run-markov)
…and visit http://localhost:8080/markov
Check out the `examples’ for some input examples.
Implementation of a Particle Filter used for localization in a 2D world with several distinctive landmarks.
Usage:
CL-USER> (load "particle.lisp") CL-USER> (defparameter robot '(10 10 0)) ; Robot position and orientation. CL-USER> (defparameter landmarks '((50.0 . 50.0 ) ...)) ; Used for measurements. CL-USER> (simulate robot landmarks :N 1000)
Check out `particle.lisp’ file for some input examples.