| 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 |
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