A Review of Particle Filter-Based Robot Localization: Applications and Algorithms

Abdullah Gülderen
MATH-511

Abstract
Particle filters are a popular method for solving the robot localization problem. In this review, we
summarize several studies on particle filter-based robot localization. We first provide an introduction to
particle filters and their applications in robot localization. We then review the algorithms used in
several studies, including the combination of particle filters with other techniques such as Kalman
filters and Markov Chain Monte Carlo methods. We also review the use of multiple sensors and sonar
sensors in particle filter-based robot localization. Finally, we discuss the performance evaluation of
several particle filter-based algorithms for robot localization. The studies reviewed here demonstrate
the effectiveness and versatility of particle filter-based algorithms for robot localization, and provide
useful insights for researchers and practitioners in this field.

Introduction
Robot localization is a fundamental problem in robotics that involves estimating the robot's position
and orientation in a given environment. Particle filters have emerged as a popular approach for solving
the robot localization problem due to their ability to handle nonlinear and non-Gaussian distributions.
Particle filters are a type of sequential Monte Carlo method that involves representing the posterior
probability distribution of the robot's state by a set of particles. Each particle represents a hypothesis of
the robot's state, and the particles are propagated and updated recursively using sensor measurements
and motion models.

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