├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── docs ├── EKF_SLAM_Derivation.pdf ├── Pose_Graph_SLAM_Derivation.pdf ├── Simulator_Details.pdf └── UKF_SLAM_Derivation.pdf ├── ekf_ws ├── .catkin_workspace └── src │ ├── CMakeLists.txt │ ├── base_pkg │ ├── CMakeLists.txt │ ├── config │ │ ├── maps │ │ │ ├── blank.jpg │ │ │ ├── building1.png │ │ │ ├── building2.png │ │ │ ├── igvc1.png │ │ │ └── igvc2.png │ │ └── params.yaml │ ├── data │ │ ├── ekf_high_noise_iter │ │ │ ├── ekf.csv │ │ │ └── pose_graph_result.csv │ │ ├── ekf_high_noise_one_time │ │ │ ├── ekf.csv │ │ │ ├── pose_graph_init.csv │ │ │ └── pose_graph_result.csv │ │ ├── ekf_low_noise_iter │ │ │ ├── ekf.csv │ │ │ ├── i_pgs_old.csv │ │ │ └── pose_graph_result.csv │ │ ├── ekf_low_noise_one_time │ │ │ ├── ekf.csv │ │ │ ├── pose_graph_init.csv │ │ │ └── pose_graph_result.csv │ │ ├── naive_high_noise_iter │ │ │ ├── naive.csv │ │ │ └── pose_graph_result.csv │ │ ├── naive_high_noise_one_time │ │ │ ├── naive.csv │ │ │ ├── pose_graph_init.csv │ │ │ └── pose_graph_result.csv │ │ ├── naive_low_noise_iter │ │ │ ├── i_pgs_old.csv │ │ │ ├── naive.csv │ │ │ └── pose_graph_result.csv │ │ └── naive_low_noise_one_time │ │ │ ├── naive.csv │ │ │ ├── pose_graph_init.csv │ │ │ └── pose_graph_result.csv │ ├── launch │ │ ├── filter_demo_live.launch │ │ ├── filter_demo_results_only.launch │ │ ├── igvc1.launch │ │ └── sim_base.launch │ ├── msg │ │ ├── Command.msg │ │ ├── EKFState.msg │ │ ├── NaiveState.msg │ │ ├── PoseGraphState.msg │ │ └── UKFState.msg │ ├── package.xml │ ├── plots │ │ ├── ekf_demo.png │ │ ├── ekf_grid_demo.png │ │ ├── ekf_grid_demo2.png │ │ ├── ekf_grid_demo3.png │ │ ├── ekf_pp_demo.png │ │ ├── ekf_rand_demo.png │ │ ├── ekf_rand_demo2.png │ │ ├── ekf_rand_demo3.png │ │ ├── ekf_rand_demo4.png │ │ ├── err_comparisons │ │ │ ├── ekf_high_noise_iter.png │ │ │ ├── ekf_high_noise_one_time.png │ │ │ ├── ekf_low_noise_iter.png │ │ │ ├── ekf_low_noise_one_time.png │ │ │ ├── naive_high_noise_iter.png │ │ │ ├── naive_high_noise_one_time.png │ │ │ ├── naive_low_noise_iter.png │ │ │ └── naive_low_noise_one_time.png │ │ ├── pf_demo.png │ │ ├── pose_graph_demo.png │ │ ├── rss_demo.png │ │ ├── rss_demo2.png │ │ ├── ukf_demo.png │ │ └── ukf_slam_demo.png │ └── src │ │ ├── __init__.py │ │ ├── make_bar_graphs.py │ │ ├── plotting_node.py │ │ └── sim_node.py │ ├── landmark_detection_pkg │ ├── CMakeLists.txt │ ├── config │ │ ├── settings.yaml │ │ └── tags.yaml │ ├── launch │ │ ├── _apriltag_detection.launch │ │ └── tag_detection.launch │ ├── package.xml │ └── src │ │ └── tag_detection_node.py │ ├── localization_pkg │ ├── CMakeLists.txt │ ├── include │ │ └── localization_pkg │ │ │ └── filter.h │ ├── package.xml │ └── src │ │ ├── ekf.cpp │ │ ├── localization_node.cpp │ │ ├── pose_graph.cpp │ │ └── ukf.cpp │ └── planning_pkg │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── astar.py │ ├── goal_pursuit_node.py │ ├── pure_pursuit.py │ └── rrt.py ├── environment.yaml └── images ├── ekf_grid_demo.gif ├── 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