https://github.com/idorobots/noesis

SKN Noesis Lisp/AI workshops stuff during my studies at AGH-UST.
https://github.com/idorobots/noesis

common-lisp localization robotics simulation workshop-materials

Last synced: 3 days ago
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SKN Noesis Lisp/AI workshops stuff during my studies at AGH-UST.

• Host: GitHub
• URL: https://github.com/idorobots/noesis
• Owner: Idorobots
• Created: 2012-07-18T19:25:29.000Z (over 12 years ago)
• Default Branch: master
• Last Pushed: 2012-07-18T19:37:33.000Z (over 12 years ago)
• Last Synced: 2024-10-11T01:18:55.698Z (25 days ago)
• Topics: common-lisp, localization, robotics, simulation, workshop-materials
• Language: Common Lisp
• Homepage:
• Size: 152 KB
• Stars: 0
• Watchers: 3
• Forks: 2
• Open Issues: 0
• Metadata Files:
  • Readme: README.org

Awesome Lists containing this project

README

        
* AI & Robotics utilities

Written in Common Lisp and (rarely) other stuff for SKN Noesis Lisp/AI workshops.

Contains:

** Markov localization

Implementation and a simple web-app demonstrating [[http://www.google.com/search?btnG=1&pws=0&q=Markov+localization][Markov localization]] algorithms at work.

Usage:

: CL-USER> (load "visualmarkov.lisp")

: CL-USER> (run-markov)

...and visit [[http://localhost:8080/markov][http://localhost:8080/markov]]

Check out the `examples' for some input examples.

** Particle Filters

Implementation of a [[http://en.wikipedia.org/wiki/Particle_filter][Particle Filter]] used for localization in a 2D world with several distinctive landmarks.

Usage:

: CL-USER> (load "particle.lisp")

: CL-USER> (defparameter robot '(10 10 0))                   ; Robot position and orientation.

: CL-USER> (defparameter landmarks '((50.0 . 50.0 ) ...))    ; Used for measurements.

: CL-USER> (simulate robot landmarks :N 1000)

Check out `particle.lisp' file for some input examples.