From 515e99057b851ebf40ecaf7a1faa24fc5988f8a0 Mon Sep 17 00:00:00 2001 From: Janis Hutz Date: Sun, 2 Aug 2026 17:35:52 +0200 Subject: [PATCH] [AMR] Layout fixes, highlights --- .../autonomous-mobile-robots-cheatsheet.pdf | Bin 686025 -> 686319 bytes .../05_kalman-filter.tex | 5 +++-- .../06_extended-kalman-filter.tex | 4 ++-- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/electives/amr/autonomous-mobile-robots-cheatsheet.pdf b/electives/amr/autonomous-mobile-robots-cheatsheet.pdf index f9e8b2d9f5fa8fc0164faab36567fa8f577e42c2..2068a88ccaaad9ff6a686ccc2a31ea5f9680ecb1 100644 GIT binary patch delta 13513 zcmai&Lw6+%kU(SGM#r{o+qP}z#kO8-+jcs(I<{?flFoc{<_FB;o>Plj)Z$j1s+zo` zxqF}qY6VU80O#Q5PHlps>ge+T{b2;)bB+5SlxPI(B#|TzcB*fZ2U#vl3gs9XQT?Q@ z(*ay!6%|}BK9hf54VYL7N<>Ah#2zi_Iu2fj&DY8Fe_I>G&k=vE_xI19!h{J$cog$M z3E5oydcb=6JMqEt+HpRgI8!iLf(>G3&Z;l0(XO$XpdB_CHB;LGgOI=fj8_Rj9l4JD zbr)}Gnwtoq2u^E+F`T4~Abu0AW|l~~y$WZ)mg;|#Q~vS7?k_L zAvHQa@BygI8^BtS2^CZO6qadfze22}RoQ;uXHuo^zPA$Wo?r7F;CcX7Th*>eEMUo@9x#1rEZ0sBoJf{T4U_H(p9g>hMpB)Z+s_Ye9WARFppbzOmOvk>#{Iir}k|zd*bim6ehjI zq3fRN`9n;almL7Phe40@C5gd7n2a^ zIEgH)VS>tG^KjE!SRvO8Dddl zzrL~=9~YqkZ_tnpGqPsaTBS4MRVL{7VqFxyFG_QvTY)%koPV?41IKTKPJM0%NK2fU z0U8kS$1vgnDD+2yZSgEjE9Wd-9{Dvp?Q;_4a6K>jvH5j(t=Q!)`UDV(-*LNeOp;3V z=iwJ29oQM-|zYEMl!=T8lYJrYH&9JeiIOA+*D| zEX`xj&Y8@lk@n?|{&)P(-GEjmLrcj@=eNY@vup&RsM-lRuVnyw5IrlXHXqWhY{^Xv z5EcbbWKr!IB8!Gh?9yAZR-4QOoi4!{N7~Se!22$JEkC$SAo5k#2?;?5oyPi)9Ovk60nc^Dd1+V&^TMV}VAPoVGhc zEdnJGD|^93n(1L5h!sSab8m$8E}i!mD`vtpeL`a zIK|sM?MU5#TxY;CnxkCiVaWG^&hQ7w)$XNbp^OS9hlwIDT!ho!a{Ce_XKRx}@>iQn zq$*IhJ~?k4@uwEv#B)ptalrJDQ*$CT) S7&J~_26U}{DiS0Z*w-GDC!o^qDRP<@ zvD%D2C@lWsB!LvJBeBO5WxXX26jov+5c}SV=QN2Anq^(`rIC251+is>%EAMn&ZnV(R9;HlR8j{B%k@~_rhHEnO*&rZ@$@}!j4He!Qm;l{J$!MP%YR{IJ2xYfZq zS10EEc;4dS!4&6xHn;ARa6@dk46zTn`zHSc7BJi!vN?-qzezydW1*s@L;f zWs()G(-9A?VKSL3*{=W<12LJ!CJ=gfqFag+Jkt`oCI4CSBl6$wKs)O1jJMJT3bwK9 zc~A=j_te!QiLgohSh`p*jSjsST;th40fB@aD;1hcWe>ZRLW-rPFb?d4U{eQ<2Mvfj z+pkel;*2*@;~bT$&)x94*%pOVW%ODZF452V;D~8lh$9?%Ru+II>V;AyJIpa5OXH3U z@5#~I2oT(62%?wqxcdt`srO%22ySyY3+83AC4n{t;hbf+@!(6)V>2A~ZnUK^aXl+N zLbRAF7y&3#H2dOd+?Eu*j9eKrI=A5$LOq8D7@AMNO1`n9JF^FDIP6@feMd5bI#Zp&^?eBT64buwM^O&^#n2 zF88~;zM$SIv1o#`ND0EQZBtfpFga4Nc5m(tC*Vzhg+YiQJay{}Q0A-x@`JB9#WLzD z^%&5gIqGdFUb@*f6L>7q$zzmtR{3*fgTWnsI~eCZwMBs2Gfi5Tq?Vn^ouBkQ!S%}n zTVxa@6sn5KwiQmENu1h!KsMf48gE-mR*^NESx~-1)`^u2G7hHi8OZ?rGQO`E6+M(_2Fvwf78v$9rxCM z|I2NwRR&zN*_-!qx7L1bjT@0~d~w0rp`sHnYS$%TW3SR)Y`sT_f;zHlyvjyrNYWkTfwX)e{Y6WSR*9puX z6nja~EujWHUk|yR*|$U2yquq-tz__8?GG(8767~)m%Eimot-9dJ`$X25)~~O%Aa0h zlHA@2jD3eAnTQ!{%Q&RCI_clfOLeW(e=V$oJP;BlI5>j+`;20r3|>#J4YsE?!xWzc zwo*7Pq$v5Hk$qqmfnD1E)-D|rf|CqH{dots=kzxT`v%jdW8L4j-NKS3o`4tv3&Pn> z^9B%6s}%-^DSb-A$--u^jnH{j@^EC8Vd>2#>DQBDg9= zh7^pfekO7WbaN>UC+#q7E^H;=r0CRYwlv#2?~9DPi_L+-iHNviEw**f zcV|d~VY-jG;&dFacSI9KV$y{SLT(5apoW}*tePy5cl zW^i7qr{@-vvjo>rv2FHKBg=sWUK8H5u|C zM?LF?!-qrqnV}o6s<1Uv9KN`4@mUZS<&bD5-#35Xjzax(Eup;g*Y!ikjSaI^d;bgI zp%AWbLbe0L!5^Uy2;5HMyPMfqoFBYGP%hW*fY1I<4zc)~4?7{W z_ogB^&EO#TGP$mgs=1)TyA}>FNiOiT*EM_Z+0<3jK|uOxYy$WHL;JA z;}1<8c~K&5a_hev0C7ReH0x-RMH!bkHbL-1Aqc>zKr546`?zHC zP3&k89^TPmxZW8J&U6=3F~mv+{ED@Z0HfD15G6B~Gng0C)oFw`O&8qCM8_W&D8jW2 zgbRwCXiYxQtNO+>b|JZmyvDvY&ikw@SlzvoavcbPHyuDNrdF1s=*PRVwi74SAzQYf zWWLBP(O)eBaBW9wC$SZ)SMeOhSjNw|gh?fE5H<5YE*%Ej1g4gv@0f@RZq34N!Ovf} z9K1D^cW{agI9V{fxsn_tEOA_q(Hh8w%UAd73Y08Q!hyvF~Vua}4!ruCHAK(@3d zd9cNGVx!smjNe;3YxhIFM?-~q^!c4<^ryF096W*muY!#9_^V*%*27*v>^o<2V2T1HAkm&~46M;+$_G~CbelVelgC2aJ4ocbqHP{jy{e%;QXK|C1K zHp3A9oVj_lPq0@twX4_)ZFYZXCmtRB!J2deLIIF3@yyLVBF57i+x~7{iZ_qTi_$*>6EtfW8PE$p_RO-g?FJyh)P51J|Ti_eOLx{=W4+;@S-!H2Uw$WzmzIOBa z?Hou4j8?5f6ZB2R)jPmk@ZGPslghXy{tJRmVXGdgq_U#&EA_R2SINOyZQy4G0ah(D zKQpzpN`3N{7z*Pz*f(WP&+YO$NRSI)U$Cc=&f82z;P1zopbWuBviO)Qmcw(wZ`=?l zN`=lvjylfRcL*Z1DS{}(0yN7Q#>8%n%8E0|o1r(mrS5;oN1{o3P%>K37~gAjXiCiR zE>`>(3oS9q^JrmclKEudIl^E4;}dA()J}nMxusVE#ANvHasCr5j?v7`U2Nb01m;2) zMbFhCUs%1FqLyO%rC_M>-9)SwFTsFu*y)pSg?r(=J0P99Rj9niFR@dR6l`ctnB?U* z$|^^9_kx2GBWw6*Cs6_g-$vAyTydXJNw&nVtsUtGGKi?mRxyxYdQzM_r1$^?GPi9O zf`Y9%cRnWS@Z@f$b&PFs3deYW4r%kYrR#KUw>{(X-#x!9vz? z&eG`MRmte^V}`fNpk7g&-2N5phJ5egQ$eA3LGiz%%0RD<${Hb;o8x}Hv5=wYTug~^ z@_8?xmBj3sfka_I6whYKlN$Y&1rU|s$8Ia1{~#Y4{3tZ86JUZp&qpQ!>{kd$oQ`qN zdecSF#S*buF$hf-p!DQBMN4@hZwik4{dbfCma~z#WrzeWNiRa_3|x44_sIZ?`Yb{J z2=Z}v5)>lu*t4ET4+jn&eOmn`Rl)u$l$_9A!i-1gRIx%`keJhTaTMdDrBBVInR2Ng z0*aRmM9QM1tRUMNK*MDKzj5UmwEE6M=?!)0Cou5H!JCWBsRI+JuuBy~%gA%L(w6Wh zB~;6NSOfyEuJCI6W+c-pq&`FoL6?jo<*rqHJaT0hrGvFpZh;-@Hpo;L@I+M!`naSt zJ%7x*n-nCg%XMS_>El|c-VKRb7CEJ4uEE%QShPE6qEHQQQpcwk^w}2xmx_^A_2K+pu(e=U#XU{b}dbx9yIwa-7v=A#EmQ!sXM-Q}5{GV4>-7Wp#i{1T3WM`?#k)*xRiiSonRaQ*0uZ6i~bR9$OypbIm4#&T<{%1Vht0E zEK^h6jH~LNhiY8{aCy2-&o@905v=pTzgw4SE+ZBGrvj+8`dIS0T+*;TzsW#AKMo(Z z`fSSk6rNyrmHLe)kmmc0ab(&hEVulxH?uZzz6l|;Y0XM3FyrRV`+4>3R*VCn zr*XTi@mHAt~sZN6zj)LqDjj20-qw@d)9XV%T#|^88*5& z?!C^~?(V|T0`(e`0B#(2pXEkFtYoROVa?V`s?YAi+9J&}R8hi25b(9WZsB_^SipnK z3+2m53EYX7$Nwq>oj``wppo^0)Q|x@XI%CVn+7pWa%wJNu|l8Bw3?yE*KaoQRAHB= z_JKx9;@b3yWVnnsd4E{+`Wu9CNC_O)O&X@;tGNMCk1+^^r@vx?pF`SZCTl(EGuhWs3a0NFYyw5pTsLqS zT!Az`&9dcz|EQ|)9Sd;KyBK6uJa2-x#W8(=f>oQ;*)zcdv@QJT}5 zJ7w_n7EO5bFc1G*mzwcG{bd)fo@%-Ui@NU>^>W163lAtfw7Ju37DK#&7I0fQ{O^xI z^&T)Fcm)dt@U{nx8qDklh|>#30f-1_@VGYp$*LVY^)c@^oR>!GR=F8hX*&3rt=IJ^ zhR857B||n=*M6shd{uWe{QGJM-fwp8e^^d46woUTz3Um_Ro+Pe;pisjT!SQJI{k}d zL>;?YPE*gR+i`6LXVh!e7ogyNvV0PRWhj9Vd}Y>g{=&P41OkROL54yB4~Wg*F0%E% z*xET@hhT8YRejKN4bJ&{@3={~ZZ6xrlhkiRpT=h$#Fd91Q)d{f_-HdDW}LM!8a(Au z?qMaMuhYE(YJ>v)h0=uh@2vjE|M|0{-k4ETxJV8kkZzF-Yw|ixiy57&;1T==0T5y^ zI}pQx|JfNWzs1N|Yft}h0)+pgSS{(tHrl#@GPw#TTvAJ28a-yE=Fn5@pqLhs{sU@F z68ld_%)qv@_1eCCfD*F25LlU9augmjZJZ=@%iH0F(6V)+zPF1km=^=R{<36dN4j&riKCwbIUZ@3Y^Hvl2~fGa!p z0c}euv@=Q7T+z;!3%kbY@vU>)RESQ8A8%8w_94yg6{BX+jbNXOLoRvikHA5UNm+Z* zT94R_B4qa$rt+eoPgYHul3~w-*?Z>dvweaY{R2>Q0E`!q;$!j>{Tdgl{j(3Jyd@#z zz9aV|AaF-bMTLLu#GDVfjj>0WlxwQ!kV+Xs3WFp1#N|;7PPbLFMyIu*ey>2$<(G8x&RSFO+C)pikBbm*>No>-Bke_$xiKqC`+e66Oak? z1nGwV=JExkpi^+JaB^c&0oQP!O=?1z>=ndytp_UbPHB@EnpSqro7$Z5q?u&tnn^c84`d=(OLP|e)W+7u03{{q!K<4@Wc0SIFG9<=3 zzdXcNLaC%`tYcR5X3ZQL8WYw8_XL({fdh{3G(&ff?i|Jw+I}2*?BqlQA&YsVVK3G- zY!U5}-f{)|H++4&n9{n(=w2h$^(m5NN2O2n#oA#v#^q{BkMYhFe(ZaoehCYCk^*Ia z0jrYb&VuyK+X_ZF8AMwxN2L!Xcyt;6;CE1Nw+Os4el0=r4BtV2MqT(DFr3w&ssK7^ z4r*?|E;DSkD=Xlcg38mcx}YY`8=Ru&3CW>Nm-`9s|Onp3-Z+8L~sk<-Ku1(~gUE$`3`aXiS18cX*%w8PeWq~{{6%7!g#T~b3VFNCY;Uxu2U5P-}T;i09f zadAX*UaW>vc|=o{S@I&zjbsei$ow{r-u+$^sjTb4yTChn`v|kWZY4pV5HuwiyM9KA zoK`b)m-gasgbwA3B9|%O+-Faj1YL%lXaXL|2DMt>nebLSNzbaOb^Ew)#BzF1;)1Zd zanCffBxUTKzsq{vrl>hhVSurH*e<(`Od{A6;?CD-tGspC7T&JvGZG>`+|F7}k7;?U z5)A7S<-S*mvFwe*#EjUkj&?A*Vjt`JDmj?8hN#A%_V0$!9HM2hDYq8F2%MaMnetAa zfcd8|iW;dlT752YgW%0$lTo%CDmKHq>f@Q;bi?PQxUn>;(#HRyA+&u4Cn!b zy{&{MIHoH{&!Md8+t@a^?yYeAy;!(#u_T~YYHC@-eFq`)Tw~SXug;Nnqks?Ep?iGE zBeT5~(<7-&huV8H;Zb}09Q97DQDUypj1t`AO+~CxdHg%<&!1!J9(pY-Kdz2|^%C1g zhmk+FLY0$MyP_7gV*u9%d;)Z2kl)Egye;z_UURsCq77a4?lgqWr{5Rx&+>2;P^3oF z_&)!BS_Azf1+L2O2(F>VO$W+9o=tTtZityKDTg@SVB=wDE{(KXiXBy>?F12_wcS^s zZy;-)3l&r2_a8eV%^JN0{Z%We=%H%Ghiov`k<$DaUph+RyZ}OrB+2QXxqMH#7e6Z7 zYgnFYNNQNQ1W0T=g5pzw;2)mTs z#au>@dWe7i<0`UyD|grT{1s&M&Jssa;R$gcqf zd6vVRMc38H?isWmx`128{;ItDmAKT=L>@NdIrpaM=ru54zd*iHUITQAziK#B)vjlx zOuydDIAFe zFUuHm5{V_Upz7Pvx&bEFotGI=?yUL3UD}=3|DjQ6_iG``e$yR0C#n$J#voOk?w-!;+rpVX%2S8~ugjaty$)iL7ZfjLEDJL>>o)*BR z$!hi|zgi3eKsF9~93MEtqf`4pT*{OUMkLnLd;)*VU(8La!__G)Xs-Xk!P|a+)jKNq z2>&&-gRJ>;ZX`lxGnMurI6&4Czm4#*vlK5rjZNfcZYq9C6eSl#zL>kI8q(=r%~-gY z3FsUoH_dF40!!TpqqvlZH4O0$Edb zoAKa}DmLT40r57wRmp?d)Xt*3Vt!XvWr3(daY8k4lKEp~5}fIdq9L*T0bJ|vH!@Jn z>^p=)AA!E^iGyXi`?{-{8G|ZC@I&h008n&3G3-pnRiS#NxyT+0F+}y3P5?$AulM@p z5MVTIYGNnFjk3Et3hbSx6}z4WxeI#b#3l9j0((7C1PH!P&EoseJ0EVqs zOBXNG%A#NX6_6_oAiJ|slFF$P(vuYg(-$8S-+q1n6h9>AbfVm)ArN4*{>oMGPZy3x ze%2ng^!m=lXn)Zb&7)L?erv5uqe4%QMN`Wm>kdS?_A`hds49uGXa8Q!XfZ>&cNZMX zBuDLc+#GIhU6dm>6n_eqoe?|H1Qa^c)*1d(WPH-JZC~Min$IgLgVkc!oxc>1${LNt zYCc9_&vwtKZmJgfwW+VVV;rpwYoRh9ZmrL!j#wP`H53r*xHUO2E~VdO4N z|Nb~0d%n!#UCteCV-RR+TnE&Ec=~Osh54v>*EBKlJ+$>PZA?WjS=*2>0cyl@aA0(d z^Q$p9$HB%8kIob3FJuOJi3v^6Zi^iFKiB74>J@k8ov%?1eJmq|dZ|du_nF9l$4$0o zM7I}S&_wXa==Tas2*-8~IJQi8AnsL=ol+80*6QAFG@+iH7YKHS9l~Qd!T%cx3?)sw zY8tgpdMBvo6`9=pRn{h<4T$8GD(01XZ4m4_ygB}BhTT}i0D_WJtp(Ux$~`aXqSAV{ zb03OE>s7z78zHtSb?~gmu*UZ&4^hM*6EM;~E5?5}1n!n@r&`Q@3u6v_oLKdj94%5P zBK{hQ88qYv z!;g1rFQeAbFpC6o3%#vqrEn~(y3JE^aV^EcziBZo*1vsnfkYnZw8_eYQcr}Z7b1>b z>GqQDlq2{pPegS5YS`j8F!+NjQNI-Q$KQw22Y2NAz?3tmp7Y$x-w^aDyreQC8ut2x zdR0L(HF+6S){>U%0uWo;_p(5`3(y}&7JZXE*a?hdT=|9`yqk6BG}xk%K*Ig+wKDCt zDT~5rY6*XN>bR2bk)hX}r8S)$Ucg{`_ce?uT31e$U%+Ilex<+d$-8XYpVR>LdTyz20)5399&m+EV_8O zw$)N7Z=^6F3&R;RxP~ADLG>I8SI%Ks3+9m>KuMTmPBsBhGi_bv2C%>b8l32o=Ewrk zg${D5P?U;(BpY2-A;6u*`}gb`ex1k?-TL;Dt)Hq>X@D(8gspuQX2Lf)OKY0(BSub7 z=_^^-5(nK|w{=QIEM? zs|~bLn|RW9iEe$x__D6*RC|+KvvpCQaGrff$xd+}zO}DID`3w*fY|zuYe|p=?na}( z%|!z4#>3EDv}txHuW`fTfvfvu?70n8r*FWeQ3SpjXEfW`c~r9y?fd?=B5WxpST&0; zylvFxKya(X6-8T*Iubl+=0(Nv=|!MWzb_fRwL{SGYY{Y}ix)>OvHx#-!+M^icP)?eT*qq55Qzy8REot~# z49XbQ(4@E9yJBSYtDZZ0N+|s6!QU{}!Nc4*#5Ayu0vSzCHmqa;((CD9I5UMKovQ@P zPNk3@XaE)X^rmhK*^SuBf46)gm45D;ED2K7ZiGHH#Wj7m)gawAUK;Mkck>l3v?n@f z_^X45-~Ie#@mL|7*DieC9R3)x1KNF_9=0bG;o*{(~jB`9}s9Gu`$nL0_!UPtlK zN5QR{{_nX>!yza>`vw?Wt+nHgyXv}Ze7dezY``@|j1bf1fTM*3ycc{vZc$|3T-}(# zK=L1!h0YoY%GL%x^IB}L?;9^{uMYg{;T;s)>C0hFQIbG|E@DRiZ40+x%P2Dt=%FV~ zvz$F?cxU$ZDrVIwza|Aln5FL=T2!4ZHZ^wlsGHFeLvby_q1{tZ?w?_r*+`15{qOHj zJ-{pvZk}#|)>Fof7ITgs=lO3ZHh~pz9ijL#$jq{3*p>XtB_Uw05b~D@Q zJQz50SKep7y;C->Ri4odeS9A0PCXB2(|DpwilGRn>t0d+#<%V(kvR}SsAt_u05-oA z!;9Xi2}-Bf$GcXGoMD)VUY6u`VLDT~)x8Z3-~>}rBtCww0>z_6z|;MY_>PcyU$$~H zRh&u@&0;9MyW$s{&1+S*6q_Uh-tx?j0{xC|{!ud$ftv`!=@OH@{UVt|1|y_f3ndBY zSq|M6%qA&IZiF%Is68JYK6I4q1$0^zk*JvmNKO`4Ur^ZOMh+h-&ekzT?~8XyiQb526yKgPZ5^B@WZyjYaUypjF`T?nC@`| z&C4aTOG5?53aXaGqXr>;*g5@!mICwY10^8O5?Bam0kC%oY!Gy;BVZW}3ltzIl$W2p zy6D4mjdH8XPRdv_H~q?zoEfiTTjV!Y&EIDD%^Q-wrZ|Z_Xn9_$%ujK&qp>+;o90nGo7{64DgG2o6Qb^K$!k zXU5;skF8)wQWr)fA`5pSr5WJ(XU{0uU@y?C%DQI=i54#SkBGz#DlZ}}n&_BXIB%tO zo1wm;;+a)Xipoftc*hg8z%X;lHCgH8V>9__?X|FlZtx{5N}?l2`bT^#N<=v;Wpgg3 znBC~r){nay>bI?2co%4VU|UY?x8yKZJE5egw_#gB^~Pa-)k-GO)-b?Y>u}9{@9#?Q z^l^`z#F9(vELiJyQru*>sd6*K{tJnIDfMcZq<)U-&e|KAf(yP)0l!R@Po~e1-%Xjn zFzq1mrs32P0%*44Jl=Lg3!nG8Y1C@)vw7(1xGBI|bQyikc@qo*WLR_`hk z->mevtJIS@;jmrq3r>4UCkT#4Rks3~c0w%B#{G9@7_H@rFlqsb$s@aPL(qix42MU4 z?x8*)>?%Rzc!Z^_jsJCMzuE_J2kloO{svr{2`bT_-Rqc4wuza{iN;O4#_Hr`@*YpUA`G2Me%!Ky-BdKQ$9>2ywv!BkGjm?u(9UCAGD zoz(rT$#0c`W~ulp=jPuc0NE4H6niT7Ka1w?=yS5}fIMLQ8kj1?;f^v5kTe<`J@R!8 z>_5Q&1L8j*{{!kjp#KA=<8=)-DFu>?jg5m77;6hh^nYPTy)E1}v=}!FJ0}kdC%YsM zizFw92qznth$K4;hd37(3l|#;Gp8U4|NoZ)oOOlc0m#^EYT!i7zahU7%TiG<_>_M0 zDG3K7Da$GqrKwKo(~DK%qiTf_MvshH4}--=<8h?~IqFxFceC5bv$NQmcEXpSpqDf) zLNF^Jyzn#SP~E+4{|vk#>~*d2X!YhhGX^5jhdiC?SHaV`p1P`m-uk6m&h4tmX3Ei1 zQ{=f(0IopG3K8sexq!86tLoGp%7W@yNERB@YQ!~hqB{6f&vLYEMfQjm?3JweO9Qez zZdpv}kEhKIw3y+<9S^Nw*3bz);`o`vf5KYQ3DZUkA+(~m6m{UHoHaT{rd%6Qwc_y$ zw;^bqIXVNUW{u(NvDT!zFx3w)o%_->3h}fO0arz}plzK{`dk)-mE#---PHKPWc9df zG8+)tE?droX$;2r^_Xjl8*rP>2AyDKgR7nR31*Uuip*hK!OQAi!8@IK+?r&Y;1Moj+ziVw z0G!dA;ii;Dob}kP_+_*^@S{!vZcoxpWJ>1|ZijhL=4kw(rqE<)wN91X_E!?_F#M6G z&qa3bxUE<>Z0Kn6o*OX~Gsa_GXIWb+*C2{+=7Vppwi$()x0D8BCS5=S4&T=B?l(gz;3)|7 z13hTV4{N-o`yaRQH^14#b(~d3{`U)gyVcwGFJriT#25O6H6o6b6$%FOIyd|aFm2AB zo^llr?ZdxOXaYnXIR*nos#INx#LK?vm1t8aP6%Ai9&Zzoe*S0f@QLDa38Sj-! zZ_6@^3yRu@f$_QjYRt+4i{wl_0MWOuSv9=5)8tkk8x&H9{@&oZLbV1X&ikb(ChW|LC}aKxr*)4klq zEaQ~hxznK4?)H|g+F5GZqxR7LyPYVTml606x{Oh7ucvUuLFEKmRsgH-%YLR0t4^Kf zMW>v(V#O(IK3~9Wuvs864T|B@w_?e2x<5e9Ceq@rx2$!!*(i|)QK$YSpv)knXQR4x z%hiZbb#0UL( zf#(0FVUOy=N`eDSTRB1=7eJ)ZL!~u9*#}Y-UU~}eP=PA!LACzFT+ks{*urP##%9JK zN+S;BGQPtGMZbfTH$dk0Pf4y1bAPE$>1X_#d;VF39MO;Rm;4-`tPt40`{-M@%uaU{ sBxrEJTz9@BX!C)+HJsNl+w%ho1XmFQ7J9)E!*O%7z)?_0C`rQo4?g=U_y7O^ delta 13221 zcmai)V{;`Atj2rFt*x!Mw(WLnZf)CkdurRZZQK6$)V8~|efQ4&0QbdjCX>m#JdJf^#p20tL!q8}^{#UW2p_Hg8r|fXttYd7OlR{gwoJqb7`pBgv!e69>J$j1j~t)ncI!m0aye zmXXcwc6Xx-5-MHM_)(<~(t#tY)<#!)mP8bg!nYA_OzD$#nB3UdtznN}CT;Ox5V4T< zsC10m1&>+uJxsok7|oWPu8V9tz~ZurrM(zvL)FSFwk{SENO9lds8(2Ea2g)s1Me=c zpSag8Z=^FmbkbGao>)u_dEyC#H59WVd~-cnEU({S;=RbdNgxRHu(wh`+FL2OECf3% z=l^Cg&7lmOAIOdlBL3l$Cva`<=inAk#MhC=`Q`WcwyjSj%M{%rkvUl|L5C1k=f&4qQ&hfBhY?4bM@*CgaWtc#N&{5TD3 zFmih6&YZrj?Gsr3$PZ@haMPdEiQaCvmqq=O#eO{v0=|n3&^FEEyrWaI{;^tx{P<%B zYyX*azuQVQnjPau;kV=X9_N|+u0MW?J*|&90L~5mhX``2UBT9P8lK%t)-LD7s;$O3 zp<>XEf2Gj;g7-4yj1C)Sz*w-TZ7>RyMC)bPxqBHxjv5hx-|ED~&;+jN0>kIk?!n28 zVbh!~4?G^j?2yiA0>K+4XqnH`-^B%U8JA*q5HPS(9M)ex)G&UH^tuyWMx|w-(rkVj z?{`oPA^)Pio8Nlafh3NS1zU~{>YBHB|7!{!EUx%~!7pq!IUdiGi%PpJxjGz4iVvN* zf(x_FYevI54Y7Nj7G^ATmNcN4DdT5u0)0-o{l;>(zdV=tMc_zK@E=|)##h`y$P z2?1OfOCZ4Fz)%3|V5Qto{avVPalPF5W$9^?$#mX3C9E@=FSQRDy`&q zVbR5+9^M7xZE0kd;ct>wqcVzPoQLy5z?)JRq|{#WlB%YqOe81ShOv;-Dh5|g(j@?1#MiEFHfVhVY`|y*( zRYurX9DcZ9(r%{YQw$i|#_Y5%s;m&m$3-2{jSn}LF0ihV{i!t*p0W|v>;6Q0V8mk< z3wq%yWuoFKfTu@sgg_#WR0*B7*k2;0+M;nH*p1N6JKG$sxu*g8wG7%Y4RRzD;D%Yx z(+lsW*~8f8wG%Pa5EYY>Jf;FuTbNmr#~=D**wYAM zW1J@u7epk?HI4}t#4dAsNn2?87v~GOm8+3^_7{%B&A18f+Do$L8wB)jX|PTF4H!>; z@oiz#ge*onmawyhS$xOro~o5Hqj*E5DMqN?s1vNNdXLkdo-KOymVYJim{7bRJxGJ$i? zaQ9B^zRXuGhF;<>oU8%;FCaeL~(>JIJv78hfo|4J8z^t~h&F}Y?ozpj{;OcDPC&I`aVscqp|!R3EP7^@9lI2li5AAN;<|8=TR)|iQk=14%R^#(53 z@YGR+5htWAESd1@PE%XLhyWImGL9b4zrt?LzL}QwCO6;T9((k!m{-01`jK$LLzL2B zl#=^rB7+X1yahji$wb-xX+Yj_0Blsy^V2eXf09n}jisA|%XLZAz*u;_CkB<0)>HKn zL<4ZHAJSjTq~ifBeOe*W!B1SmdMZ#KehxQeL&&_Oq26@G-xlyPeTcHk5{+BMuxppg z4%vQP0Y;EXUtS#p%0?eLaJI1Ha}L)q$Ogw8@fAPE3H<|v+|e(WkC~-*wK8WF1%X-t zUO}d*dE_xRG@WC@e%Pg)ohx4YafP*FW~50gk%|RSnqc=8LGbUel9)KCO71koOJVk$ z>RSnEQko>|iduIB2GjWK<)wGU2MYgFf|IgOfF zZ0sePvkl-&s0hH0MfFKKA{FtoL)%u1%8><(*h3r|tS~JFObZEi7t#qeN1F1=IxdUyk4uVfAuRk&L4DdHrEfnXX;S zrde!$xL2T5RDinJT7#DBJ9-@_^!@|m%AdrPJ467_c{qCojR;L!IM>gXIcaqyvuZV-C;(6SW>nJMji3#y+^%LH^j; zbZ3>Y-BN?oPhK%~%EM+K3iCMAri^y7pQhJE^b#FNVpVtI7q2O(Q%2stf#X9U| zkNI9kQb{bL+tYyy)eONK!_*wYMOY2{2OQ}dy%x@3RLWx0DLRcCPeB~y z`7VI@&|~yQXtA)%?x31g6UiQ}-%n-$r2aewz#&pVs)lm1 zzbSqLJd$^@KEJ=sKiT{A0KcgDjy`s`&jxzZu*wlF22 z?vYvbo|gd_A=Se9SYaBVrcnsbtR_WNM|V_qj6ug$Yx^;*W<;tN=k0D2lsh=TG(NaI zj;1cZM(u(QW{~s=U%qFM3*Y%NV`p>w8_ z-MI1SA^QD3hQ|8X6($6S{FCWaKUP^-RFv44AGtY}5QKzPjNw{A9?tVJ{c|V&epUn{ z#=n>;SO+l4M+*_Us{1D^c5BUlb4eLl;CmPj)X1%3%8Lk31G@&LZs;rxbfJ@jjLQO%Eq`PF+CY{re$1P6DRXh)&?k4Z<~pG21n$_I@rF@R zH3>Z}KBgIaV4_PQuk5&am!_fjUWPBnhrsf~G6mqdrus+^iEIR``I3KhhpAddGh^`*>Udeum+(VC{UfYG%`$!J?tXg)udXv*|n#MdDO- zgw397!K$OPSP9afCI)Awf+%j35hpn7Z1k|ZHxjcZ~pc`6!KRPh$ ztKKgy(R9=)Q??=VlNves?Yp8Mixl$v!Y)a{binEjwPES$UAatvmzUilp-&%0 z&BZqp17wG3yo;+4=)3#ZEo2jl`)Cppf7OpiI$@)E}f-ysZ6T5I;{$4v?zT>Mzw?)RM(`=5|-#K}JurW!GGW9o_XnSi5~sIqvZa_WDcX$Br5wki{k`f7v7m` zFc@l*+Ycd=i}6xklY=-zlUUx+1Lutos}raaCZ%VntiY`D;TmSz->Dn2b{UwiILE>} z1!HzNvXSx2h{~d;*&6IOFfph=BugV=b|<5O)hPm+T_g~6*iQ1OHB6r(u7k#*2?rF| z-n{?gtn4>18|*T^%7`Fw9)M&3IvtSB}D$|J=UahmbxmA=%$=!QwTNXRyIg ztuk7e=f|3~UCe3d?-CZ)l2yc%m%MTpbw%oZkY+#*s*oX?Bee3A>h&velsXnXO9=FY zzYP^`WZuC9RKgTv%FV2RI?H5tM$%Z&VFF)Mxa7Wy^Ka?;bn0l!jB1w%TFDU2)A*p*A*k zcC=34(^~=!*mMxkt-&^*nh5zmKT>V^IPLX%NO{-p3JE&$2&m80lQr+1bF}qs)GrKE zipw?9p~JSYT<^n9dc5UMHDuz*oK;_Px~v^){3M9$ecSXcH>(0p`gT?dEwz4> zqEQ8$8IBGn=xFe4Lpg$@DCEtss3~7u9zu%Zh&Cc+{2%hB4Pu3 zB`Kg0JFCs7iP#1zZK-P@+>ozPORS3==VxcQ*%X3Qc{wN_2VELJSLdimYdFVQu2xYQ z`=Zn8qUw)N&DTl5ol>sW6H{2QD*uZJ!2)w3D4Q$uqWO?6U3A7$XSJVqIaL#nv4RpcHlQl(&D`_RKv?{3ek+ z;L)Z(sF9w6`YJBc7L~A9bZbj)uVITJ$5jhS6LZW@Zpgvcxxt110)U*Fg*g5_qy?^u)cbbc_5{!*R{LkKPsS=&M{sRrq6Rc=(P>>pFo3NR| z*Sij|!|W#D2%)_zpjQlG&pX7ctb+vJ)MRl|9?Xv)QOVT`e( zdhy8)N>NCI(DJ}!hOCX-DqOkH;RX94NgM|hN~WXpatf=wEwOhGTR>?Zj-Vg0pMbJE zAL_EKGf1MIa1(tiZBV?*2W-2rk+gcz^Gs0EgrjGhieSUgtYj?bJUW=3DZ%&%}~hFYu&X)Y|~TkEM%qBnXUs}Vm5WwYQp_vf(H!I1fB}WJx44IUr zP6%^owYASwIAQPLJ+ReY^Vp+(uGH-O1NCKRZbVFO4og#drFz`z=9b1H5%=F@^PzX- zNb7K7dxo0Yhd3za-Q=V?J3#M@29DEJ?44Vs3SM&FTglB+!Hrk-35MzCQ0iLcmOCTB zt_QE3JMpC~l%tQo73KS~{3;2!CgO`3)yH3paAzG_lji~ZzJDha_`nd;YdbUIP!>7x z7I}cS|35cn<^USP^sBu{!;& zXO~KrQP63;OYOvCAteoEbIK~@K6#tG@Psh2(}F2DwMT{P&tMA0-@@Fj1xq({&0VI? z!qSt7Eu4yXKabFQZMd-|QdAD5Y(-feXsr9i7X=4%(PLhStC4Mc(zJt0u9~v3KlQ?Vbc0E-|1Z$m);+Za$RSq9egox@5d^YF(vO`q4B?u-22k& z(xNnpZgll6o^OV;ql?NUb|m8bz8+qmffJQUh*WVLZNaPXQ`xG6jQof)#mIz0_FFh6ObR1UQD)hH!1^A>dK zR}V4S3E*$Ki{fa%=@#!+f2b4ngp+HlyNb{dug)8A3$2b^Yyar4x75?WP_jR?l1v(P z9kBUt01pQKgv&@8iTZIr-%Kc~);PANZbqE;@LJaz#Bh8wrbiV3x#lu2^#lbi1XaOP zKDQ5lb{Ro6j*_LVtF>-Xe_WbJn|p%Lb5i%R+Eg-gAv-WnB6SlRY7LHJ~b zgHu29$*^ZwFtN21U?F~+bq-H>kA}A=7Zj`%xuYQ5X&q>HL2^#pvEz6ecovO_u675k z1YMj%Yb-uFe!xBX(71Tg??ScQ%_O2O9r2#H@(vXIhYlr^8%&`fVzn_U*c>GvKB<;u z8RDb6ND_}eZ?AcYC98Ff!U;?QM`usI)T#DjVULz0h>9My;8eoE@jD(}4g8Kp{F4Yj zc0EAZKoDxUAaZp2$<2hCzt@Pb+nE?LF%n5()*ixx7^A#=P~0Ztv}m;^dpOSQm1DGI z%uuY$+9;zsYG(Y`p2@V~{e{d&u(b$3D7f=pu5 z5y9fBaU7aZ!o_-~4Fl^-xL!5u+(3lx-6c4sgeYN8@)nxQNG2rCFdS{<0!(QOA{r3373EP?> zV6#?1b8pGjUsxny!KhIJmcQv- z(MPV@{vH7xQ4MT9*vvSQ{f^u3ZLQ~339CR#GtQ8T9b&GJ=Uk4>>IsWx_`u(~m|GK? zY2$WL{~^q#ZO7!x%gWk*akRa%JOLM}%lyVuub7{EL6WbCN~Kqj^nKonLp{^2gpg|_ zBGGX9=-HgETcDep>-A-8lwWslVK0MdvJ^tE90AW5HU`9&=B@L@|Kv+R{0ttnHN*S; zgpeFd`Gil|Aeg>*|0^Mngg0uf zi8OVD#WMJELTjAOU{}*^SPR*}0pB>YUfvxjy7q!Xr5n0GBt#~+^Xygyt!Z1mX8=GOh!wz)amqq_HN5az>ni{ycyUQcrYdg*%c5oIt)dDdJl|V5pKGGpmEYa%um~3B9O;vLH@!nnKFel zc1xcc!y74V%)oNX6Zyr34BZ}@XYWxWc`VQwsIiv&O9(@ zI{l}k1a2AG*FxZ_OymcrPQTx?u8~l^w6?A+#oPR1&!>sEw%cS5%;@W(?k^f}eWjNn zM+cu@-W?(9c_kWhn@D>C6&5tPmPJN#FKm0Od%S1>=)sBV8A#M{YxID2zdQsHY)M?@ z2+)!lXT3v)BZIx5hNM1s8f=kjk~pwRIhA7h9hk`WDKIya9!w|YS|9BL-54GTY`=g0 zjvAG)+ZX9pW^vFN4|m|WRRt#(m@|gW+In5t_I+%ikE$Lm#)n3fZe)o9sl zGA5k_3Hmy~j$qSmV||2uLW@$Z7)ODKZ@G0`0~1@sq^+askz8Ycy8>hX>ias4Y)m|k zF&KzygAsG6)_t{>aDybA6>3jcP6N@&Ju2o`LIvj~H~#8S&vBf~Lgi42d-c}OigDib zF!V@uP)=pO2harGPyOd3F;*m#{quJyZd430o%Zc+*n@)0*5uRa`AntOnB~z_$XJor zw0q9)o$NZlGfr0G@f)B=k(X*p9p}#-8<{_qm7_?Ej(%4ab!671CC9mPc6P!_!!cGh5}f7j$hdtaYjE@PgWl+pi(C!CG<( ze1iJJ<;xxImoB9vKFqEV^@MViTu4=S=<0sWQ+~ z(Qm;>FT(=^(@UhEGe_@m!CHfBf9#76&JV3LW%3)zwF&((`n3)ri5MVS*M%xT=q3Vr zMC;%}1{hN<-w5f}&T?I73`5FHXcDH#f+6|#QnAn^^1cM~&BcDe?WvpRtUOMwpknp< zj*_LP;%&+IMJj})RV7;d_kRZo>VZRQ4tL~$86*ds?z5Z(B3X_h=lWIAO=L!jKReeR z_%<0rpU^tll}7~D#Y8F}is@ByuQ)kJ`0UteF~Fzp|fOvC=3rSKEZ`M_Th z9^K<`Y6?S_Vtl~oEwS!P=q?mS$n~Q}uazjLVjFQbNca*S+k(P>Zw)iV4m-aZHp;SE z95~i;>OzGsge39J%vkrto~)LvRoi_uw^tua zEOnOP8G#`JWrs2B68Sl)Sh`+_x(?T(&3x_#YahL8$!k?1?3;)eyt}@Au*nd8^+#&xwpH>^; z$0;83+^LDFdvB=%To$e>Py4s?6wFm8o5(mS14iCo2Z7}b3@b$FdKB`W88}nP217`B zWC(t&gR5E2OZLTxr{PRY;896hG1DGf;gLtat?It-IW0Ybh;FNTsEf6=6HPm++U%Ta zPM3nf`ZTJqp7Oq}$w;g#EIw8dWZoR@m@Yrk8smIN^(a{jefMz<#;doDYlbU3&ef1E zlEu`ekeXnjk4`6`&P)5$G58G17#LFENzEunUjo*yg^jXdaq_cK)=!k;cTUw`jV$J+ z7N;m1Q4&4jwLF16GY}46ALaH>X^;7I3--&OW~&YLUO_V_mOLX*%KeD}Kg^e2`h%bnD|ogUOBn2X*2 zRFovJ{uA8xCW(tS@P+sS(Q&EmdtxYyPbW)OT6q+gcW=axkl`mlDlshVgq_NIK+7HI zoPD(KY*d#D3m&9j%!-R8<=Jq#DL~~O072J+8!81E@RQnJB>(H=eJW+D$@q0&lIKM|1*_sokh|t+S|`*;f5r%Z97sHsk%CtZA+2l)U@y?l5QOayX0H z8BIbAktbFAlJo)3av)E9o$p6E%T^Sy`85Yl^!g8%WQt|1bCu{GiXPv2Nm@6m1G#I( zO?M}T4;gvX-S^681X>U@&FiT9D3Qx~8#i;&wj|ythTM%4UXkg9Mp0{yQPkTN@7U<) z)9A+MA00mEL4S;90r4v_p==^Z9<^E+;WxK3m=0eyVQErB)L}bKP*ljsRA^X`#Kmm;gC~?HB!;{9B8n4hwNea`H+iE*rah)PU!kZPHn6+;ub8GYr|5xpGP`cU zEd`DiweWRlDFm#n`_a&@XP5HGmbjLGQG*-|NGbQ90D6^gZNWEO@Ly#Ow12c*K~4%R zdn`S{;%)E(QOfNT6kgV2J1&7FRC6@0^0|9+$`wQUxfRVPMMQ|(t(A$rPpR}sz-f5L&v&2F~M=dAq^55wguV_)^Ia$^I zbo*aTqu;rNhMl$(A{n$npUJ3KRu8-ds6ftuZCJ`0)kp<6Ec{nB(Wq5Jq*dIfC0~8d z&MZ_{mtd+s7n{!bYS?bRjKh`hgp(V8%-WUlI{joO&=u2+5{SUc8c%Kt+^X*D1Mlkn zyix+W1rexVfY$^?{(DgTsX`VUT?Xf>2(s#F@6Mk6&yBn&R3^gi1lcRtkZestGU>=v zYFcwGV6qu}$&{FI%Zlb6&yoZ|&Q#Wfn>KVga;5G2tn}C0QYxG?#LrJFPVD!XV0s(g z=-``fD?!z!5q{+gX8zU?AgFe@Zld?G!ZU5cJuR~Mz#(1h)S|xLxv3 zrA$maM@eViHF@Sf$Gm`NqS8Inecdt~dZV0*qs^8H)SJV-b*cF#R&)*LJh(ta!x2SOK_5cz-x;14;K8m{F7+nW$1`j| zn`wF)3P}clkWmJ`pI!!e^y_V?^WXSGWp^CYmm)3hB`0A1fc?DD6oTi!XRe;zbz5(9 zc$ZbKOxwPhdqdRf*0wF?Lqt9&v+D zmBPPwW$nsm_Ef9~3Wy_l(?Sxt^tXk_U4syh0dv0ri54#Lll@+#yKnMGz|G2=AUhLU z#ZWO14euseqgi5B<6lGjU!QxiVA;DG2#rJ?mXGv^0ud@Z*C4rZGF&vv$H%4;@k=mDG>6+)E45I3ztX9mXyu5 zh$fXw=T&55&P=zEM2KBXPQal&kAOgDC!-KZ3=L=2dVXeoy{o(4^q%#r_KkI}wV^-I zd4tq|lsVSvh??Ma4mtbr93#zY-j>XA%mObR0d%(e)cVa`4whnloCvKuGuoJWN14*0 zVHa!q#GfLN`q(hdU)D&LYTNK2N^{TrS)#(E?xbE}!SLOvWclI9t8f99)6b0D7fZcp zl3nvRpAO=}v8CN`(n&F3BO0%86O3cObr+hNRv5DuiBqTpR^{N_@iUn{AFB;>MWO@O z1~|aJ>qUJb#9xcLBHDq;w%fYbNsT9rUW?n7gO?xy9%Y-%iR!01?~10z?&z zJScu4cR=NgqAlr$WH^Z3i%eDsq-{TF2R~vdX__W_=1M%n$G#(jz;ysu7m*gi${zMq zLZZqUs9211O>5%%3@R%@AmtBRsKK$U9P%S9D`TEg3G)S%8P-w4RP_%7MH9FRAJN;mQWc9dPTbs3k~MFD{#=FP~inb1)EXw^?=sk{5uk)r*WSK&eUwkZ!Gm zYM67zVKo=;nPhgHf&T(J3o$^mp6JjYhMX7~F8_!00FNT{a*&fEfWto~AI%|A6mt&A z>i*?taF4&e&~6D)tHv=%`KNvkd5S&NlJ>m2x@8r)gn+75{o$FMbWCbDNA;q~#26!u zZIj7kf>IN?bsueuhTA?outaUD_c2N-%k)~7x<&h`t6M4TXqlbbRm<+FRVnQVOF(7a zuHy(fxs%@AT()A&X9ixn=UCs1?^xhozn11vTgp3a-ap0X?gcj}_4-xXa{R8&Bqfyo z`&hMvAQkwoS%NyXQ}yR(i^#oeNsgL_ubkyHTplNFjP{;i*nBW1u-D#E?Pc#eoakEO zBRk523HSCwW!Qe~*B2jN!<**tP#0=kD(M%s_{aMn8XyO R5y7!@al(<4iz$f1{SQUfyx0H$ diff --git a/electives/amr/parts/03_multi-sensor-estimation/05_kalman-filter.tex b/electives/amr/parts/03_multi-sensor-estimation/05_kalman-filter.tex index 45fe433..abc1c98 100644 --- a/electives/amr/parts/03_multi-sensor-estimation/05_kalman-filter.tex +++ b/electives/amr/parts/03_multi-sensor-estimation/05_kalman-filter.tex @@ -1,6 +1,7 @@ \subsection{Kalman Filter (KF)} -Bayes Filter for Gauss. dist of R.V. \& linear meas. model. -Initial state $\vec{x}_0 \sim \cN(\hat{\vec{x}}, \mat{P}_0)$, $\mat{P}_0$ previous covariance; +Bayes Filter for Gauss. dist of R.V. \& \hl{linear meas. model.} + +Initial state $\vec{x}_0 \sim \cN(\hat{\vec{x}}, \mat{P}_0)$, $\mat{P}_0$ previous covariance \bi{Prediction} With linear state transition model ($\vec{u}_k$ odometry, $\vec{w}_k$ noise (covariance $\mat{Q}_k$)):\\ $\vec{x}_k = \mat{F}\vec{x}_{k - 1} + \mat{G}\vec{u}_k + \mat{L}\vec{w}_k$ with $\vec{w}_k \sim \cN(\vec{0}, \mat{Q}_k)$: diff --git a/electives/amr/parts/03_multi-sensor-estimation/06_extended-kalman-filter.tex b/electives/amr/parts/03_multi-sensor-estimation/06_extended-kalman-filter.tex index 48f4e23..afbc88e 100644 --- a/electives/amr/parts/03_multi-sensor-estimation/06_extended-kalman-filter.tex +++ b/electives/amr/parts/03_multi-sensor-estimation/06_extended-kalman-filter.tex @@ -1,9 +1,9 @@ \subsection{Extended Kalman Filter (EKF)} -Non-l. state trans. model $\vec{x}_k = \vec{f}(\vec{x}_{k - 1}, \vec{u}_k, \vec{w}_k)$ as above: +\hl{Non-l. state trans. model} $\vec{x}_k = \vec{f}(\vec{x}_{k - 1}, \vec{u}_k, \vec{w}_k)$ as above: \begin{itemize} \item \bi{Mean}: $\hat{\vec{x}}_{k | k - 1} = \vec{f}(\hat{\vec{x}}_{k - 1 | k - 1}, \vec{u}_k)$ \item \bi{Covariance}: $\mat{P}_{k | k - 1} = \mat{F}_k \mat{P}_{k - 1 | k - 1} \mat{F}_k^\top + \mat{L}_k \mat{Q}_k \mat{L}_k^\top$\\ - With $\mat{F}_k$ linearisation $\frac{\partial \vec{f}}{\partial \vec{x}}$ and $\mat{L}_k$ lin. $\frac{\partial \vec{f}}{\partial \vec{w}}$ + With $\mat{F}_k$ linearisation $\frac{\partial \vec{f}}{\partial \vec{x}}$ and $\mat{L}_k$ lin. $\frac{\partial \vec{f}}{\partial \vec{w}}$ \end{itemize} \bi{Update} Non-Linear meas.: $\tilde{\vec{z}}_k = \vec{h}(\vec{x}_k) + \vec{v}_k$: \begin{itemize}