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If I get this correctly, you should think that the filter is divided into prediction step "motion update" and correction step "measurement update". if the bot has not observed any landmark then there is no measurement to process in the measurement update. therefore, the robot is entirely relying on the dead reckoning algorithm for ...


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Use a distance threshold between the wall and robot and make the robot turn every time the output of sensor is less than the threshold. I guess you are using a differential drive robot. And if you are not mapping, there is no use of other 2 sensors. You just need to create a publisher for the sensor data and subscribe it to calculate the threshold and send ...


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You can find a wide selection of pattern projectors here, some of them have eye-safety features, other are better than AMS projectors in the sense that the pattern is much more random.


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This would depend on how your map is formed in the first place. Is it saved by aggregating several scans into one map? If so, it'd be very hard to extract individual scans since this information is lost in the registration and subsequent aggregation. You can however, use a filter (eg: radius filter, crop box, etc.) to query the map based on your current pose ...


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This question is probably old but here's my code to attempt to answer this question: https://codereview.stackexchange.com/questions/255545/implement-an-algorithm-for-a-room-cleaning-robot


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