Particle Filter Tutorial for Mobile Robots

This tutorial is extracted from my Ph.D. thesis [1]. It is available
also as a technical report (TR-CIM-04-02)[2]. It is placed online to
help other researchers that are interested in implementing a particle
filter for mobile robots. A shorter version of this text was presented
in the International Conference on Robotics and Automation 2003
(ICRA-2003) [3].  

[1] Ioannis Rekleitis. Cooperative Localization and Multi-Robot
Exploration.  Ph.D. thesis, School of Computer Science, McGill
University, Montreal, Quebec, Canada, 2003. 

[2] Ioannis Rekleitis. A Particle Filter Tutorial for Mobile Robot
Localization. Technical Report TR-CIM-04-02, Centre for Intelligent
Machines, McGill University, Montreal, Quebec, Canada, 2004. 

[3] Ioannis M. Rekleitis, Gregory Dudek, and Evangelos
Milios. Probabilistic Cooperative Localization and Mapping in
Practice. In Proceedings of IEEE International Conference in Robotics
and Automation, 2003.