Sufficient Condition for Estimation in Designing Filter-Based SLAM

Table 1

Simulation parameters.

Sampling time s		0.1
Process noise		1 × 10^−7
Feasibility condition
Feasibility condition 1
Robot and landmark initial state; covariance		10
		10
Measurement noises		0.002
		0.002
Selection of Gamma		0.85
Feasibility condition 2
Robot and landmark initial state; covariance		2
		2
Measurement noises		5
		5
Selection of Gamma		2.35
Case analysis
Case  1
Robot and landmark initial state; covariance		2
		20
Measurement noises		2
		2
Selection of Gamma		2
Case  2
Robot and landmark initial state; covariance		5
		5
Measurement noises		2
		2
Selection of Gamma		2