2 Pre-lab Read and understand all the guide for this Lab and look about the EKF algorithm in your lecture slides. The pre-lab consists in finding the equations for the update step, where you need to transform world referenced lines (pw, Pw) of the known map to robot referenced lines (pr, r) (look at Fig. 2). Define the expected measurement equations h(ak-1) and calculate the jacobian H of the expected measurement with respect to the robot state xkk-1. Pr {r} Pw {w} Pw Figure 2: Schematic to deduce the measurement function h(xk-1) You can write them in paper and attach a picture in the online form submission.

2 Pre-lab Read and understand all the guide for this Lab and look about the EKF algorithm in your lecture slides. The pre-lab consists in finding the equations for the update step, where you need to transform world referenced lines (Pw.yu) of the known map to robot referenced lines (Pr. 6) (look at Fig. 2). Define the expected measurement equations h({{{k-1) and calculate the jacobian H of the expected measurement with respect to the robot state 2kk-1 QQ {r} Pw {w} w Figure 2: Schematic to deduce the measurement function (-1) You can write them in paper and attach a picture in the online form submission. 2 Pre-lab Read and understand all the guide for this Lab and look about the EKF algorithm in your lecture slides. The pre-lab consists in finding the equations for the update step, where you need to transform world referenced lines (Pw.yu) of the known map to robot referenced lines (Pr. 6) (look at Fig. 2). Define the expected measurement equations h({{{k-1) and calculate the jacobian H of the expected measurement with respect to the robot state 2kk-1 QQ {r} Pw {w} w Figure 2: Schematic to deduce the measurement function (-1) You can write them in paper and attach a picture in the online form submission