{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/110430"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/110430","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"GridSLAM on the RAPTOR autonomous vehicle","abstract":"This thesis develops and applies GridSLAM on a small autonomous car-like vehicle for indoor environments. GridSLAM uses a particle filter to generate a discretized 2D occupancy map. This GridSLAM implementation uses sparse, shared, and lazy data structures to reduce memory usage and computation requirements.","abstract_html":"This thesis develops and applies GridSLAM on a small autonomous car-like vehicle for indoor environments. GridSLAM uses a particle filter to generate a discretized 2D occupancy map. 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