# Lesson 3: Particle Filter - RobotWorld

## Classes, Instance, and Inheritance (WebChurch)

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;   - WebChurch code by PCM 2016/03/27 -
;
;   Landmarks and World Size of Particle World
;   (Thrun, AI for Robotics)
;   www.udacity.com/course/viewer#!/c-cs373/l-48704330/m-48683730
;   ....................
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The world for localization by particle filtering is a simple 2-D square with edge length 100. It contains four landmarks to support the position finding process. From the programming language perspective the main problem is that Thrun used an object-oriented approach in Python. This implies mutation of local states of instance objects. Because WebChurch is purely functional we cannot use mutations. So we have to look for an object-based style with a functional state. So we take the old state as an input-argument and the new state as a functional output so that the methods remain pure functions.

## Move and Sense with Nested Lambdas (WebChurch)

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; - WebChurch code by PCM 2016/04/08 -
; instruction is taken from S.Thrun's lecture "AI for Robotics"
;  "Make a robot called myrobot that starts at coordinates 30, 50 heading north (pi/2).
;   Have your robot turn clockwise by pi/2, move 15 m, and sense.
;   Then have it turn clockwise by pi/2 again, move 10 m, and sense again.
;   Your program should print out the result of your two sense measurements."
;   (S.Thrun, AI for Robotics)
;   www.udacity.com/course/viewer#!/c-cs373/l-48704330/e-48480592/m-48699551
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## A Markov Model for Actions, States, and Observations in a Cyclic World (WebChurch)

(Changed: 20 Jun 2024)  |
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