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Robot Operating System Cookbook by Kumar Bipin

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Robot localization – Adaptive Monte Carlo Localization (AMCL)

We are using the AMCL algorithm for robot localization in the given map. The AMCL algorithm is a probabilistic localization technique that uses a particle filter to track the pose of a robot in a known map. It has many configuration options that will affect the performance of localization. We can refer to the AMCL documentation at http://wiki.ros.org/amcl and http://www.probabilistic-robotics.org/.

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