Particles will be spread randomly over the determined $$

Initiate random

particles at $\{x_p\}$

Particles share the same $$ as robots that is used to predict their new location after applying the control commands.

The measurement is not accurate and involves $$

Likelihood estimates how probable the particles' location are the same as the $\text{'}$s location.

Resampling helps to get a better statistical distribution with a $$ number of particles.

Suggest a simple way to estimate the location of the robot hat$(x)$ from the location of the particles $\{x_p\}$ : $$

Estimate location of the robot hat$(x)$ from the locations of particles $x_p$

hat$(x)$

Figure Q$2-3$ A flowchart that represents a PF algorithm for estimating the location of a robot from the scanned map.

$[6$ marks$]$