{overleaf template gallery}Community articles — Recent

Excerpt from main dissertation

My Current science and technology research project about plastic mulches

Martina Lucía Velarde's CV

Kaynat Jameel's CV, created with this CV template

Nazmus Saadat As-Saquib's CV. Created from the Medium Length Professional CV template.

Discrete maths for students of mathfac hse 19-23

Tarea 1

Computo Forense Agave

The goal of this project is to explore both the theory behind the Extended Kalman Filter and the way it was used to localize a four-wheeled mobile-robot. This can be achieved by estimating in real-time the pose of the robot, while using a pre-acquired map through Laser Range Finder (LRF). The LRF is used to scan the environment, which is represented through line segments. Through a prediction step, the robot simulates its kinematic model to predict his current position. In order to minimize the difference between the matched lines from the global and local maps, a update step is implemented. It should be noted that every measurement has associated uncertainty that needs to be taken into account when performing each step of the Extended Kalman Filter. These uncertainties, or noise, are described by covariance matrices that play a very important role in the algorithm. Since we are dealing with an indoor structured environment, mainly composed by walls and straight-edged objects, the line segment representation of the maps was the chosen method to approach the problem.