Diversity Preservation in Monte-Carlo Localization

This applet illustrates a number of niching methods for the maintenance of diversity in the particle population to prevent premature convergence. The methods are presented in:

  • Kootstra, G. & de Boer, B. (2009) Tackling the Premature Convergence Problem in Monte-Carlo Localization. Robotics and Autonomous Systems 57(11): 1107-1118. doi:10.1016/j.robot.2009.07.003. (link)

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Applet created by Gert Kootstra, University of Groningen, The Netherlands