AI & Robotics utilities

Written in Common Lisp and (rarely) other stuff for SKN Noesis Lisp/AI workshops. Contains:

Markov localization

Implementation and a simple web-app demonstrating Markov localization algorithms at work.

Usage:

CL-USER> (load "visualmarkov.lisp")
CL-USER> (run-markov)

…and visit http://localhost:8080/markov

Check out the `examples’ for some input examples.

Particle Filters

Implementation of a Particle Filter used for localization in a 2D world with several distinctive landmarks.

Usage:

CL-USER> (load "particle.lisp")
CL-USER> (defparameter robot '(10 10 0))                   ; Robot position and orientation.
CL-USER> (defparameter landmarks '((50.0 . 50.0 ) ...))    ; Used for measurements.
CL-USER> (simulate robot landmarks :N 1000)

Check out `particle.lisp’ file for some input examples.