Remote Teleoperated and Autonomous Mobile Security Robot Development in Ship Environment

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="902013.fig.0022a" src="https://static.hindawi.com/articles/mpe/volume-2013/902013/figures/902013.fig.0022a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b> Sensor uncertainty <svg height="15.1375" id="M129" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 42.950001 15.1375" width="42.950001" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg></td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="902013.fig.0022b" src="https://static.hindawi.com/articles/mpe/volume-2013/902013/figures/902013.fig.0022b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Sensor uncertainty <svg height="15.1375" id="M131" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 54.987499 15.1375" width="54.987499" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg></td></tr></table></td></tr></table>

<table>Particle filter performance comparison with different sensor uncertainties.</table>

Mathematical Problems in Engineering

fig22

Figure 22

Figure 22: Remote Teleoperated and Autonomous Mobile Security Robot Development in Ship Environment 