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Rao-Blackwellized Particle Smoothing for Occupancy-Grid Based SLAM Using Low-Cost Sensors

We approach the simultaneous localization and mapping problem by using an ultrasound sensor and wheel encoders on a mobile robot. The measurements are modeled to yield a conditionally linear model for all the map states. Moreover, we implement a Rao-Blackwellized particle smoother (RBPS) for jointly estimating the position of the robot and the map. The method is applied and successfully verified b

On MIMO capacity of a dual multiband antenna prototype with user interactions

This paper presents an evaluation of single input single output (SISO), single input multiple output (SIMO) and multiple input multiple output (MIMO) channel capacities for a dual antenna prototype in proximity of a user. The dual antenna prototype mimics today’s small mobile phone design in size and in comprising internal, compact, multi-band antennas. Four different user cases are evaluated by m