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Title:GridSLAM on the RAPTOR autonomous vehicle
Author(s):King, Derek B
Advisor(s):Dullerud, Geir E
Department / Program:Electrical & Computer Engineering
Discipline:Computer Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):GridSLAM
SLAM
RAPTOR
Abstract:This thesis develops and applies GridSLAM on a small autonomous car-like vehicle for indoor environments. GridSLAM uses a particle filter to generate a discretized 2D occupancy map. This GridSLAM implementation uses sparse, shared, and lazy data structures to reduce memory usage and computation requirements.
Issue Date:2021-03-31
Type:Thesis
URI:http://hdl.handle.net/2142/110430
Rights Information:Copyright 2021 Derek King
Date Available in IDEALS:2021-09-17
Date Deposited:2021-05


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