RustRobotics

This package is a rust implementation of robotics algorithms. So far, the main source is the book Probabilistic Robotics. I plan to have algorithms implementations in the src folder and the algorithms use cases in the examples folder. I plan to have python bindings using pyo3/maturin. I am also implementing the algorithms in python using JAX in this repo.

Table of Contents

• RustRobotics
  • Table of Contents
  • Localization
  • Extended Kalman Filter
  • Unscented Kalman Filter
  • Extended Kalman Filter With Landmarks
  • Particle Filter With Landmarks
  • Mapping
  • Pose Graph Optimization
  • Sources

Localization

Extended Kalman Filter

Algorithm, Example

bash cargo run --example ekf

Unscented Kalman Filter

Algorithm, Example

bash cargo run --example ukf

Extended Kalman Filter With Landmarks

Algorithm, Example

bash cargo run --example ekf_lm

Particle Filter With Landmarks

Algorithm, Example

bash cargo run --example pf_lm

Mapping

Pose Graph Optimization

This algorithm uses the sparse solver in Russel so follow the installation instructions. Algorithm, Example, Source

bash cargo run --example pose_graph_optimization

Sources

Probabilistic Robotics PythonRobotics Underactuated Robotics Probabilistic-Robotics-Algorithms A tutorial on Graph-Based SLAM