●。● Robot Localization using SIR Take sample set ( Xt11 Iterate For each sample x 1) Sample from p(X,1 Xt-1, a,-1 2) Attach importance weights p(x1)p(1|x1)p(x1|x+1,a12) WIx Z,x t x (x|x1=1,a1) ll. Resample from W(XyRobot Localization using SIR i I. Take sample set {x t-1} II. Iterate: i For each sample x t-1 1) Sample from p(xt-1| xit-1,at-1) 2) Attach importance weights = t x w it ) = x p it ) z p | x t ) x p t | xit −1, a ) = z p | xi ( t ) ( ( t i ( i t −1 ( ( ( i x q it ) x p t | xit −1, a ) t −1 II i I. Resample from w(x ) t