Sakthi Sivaraman / cse190

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Commit 482d7e9c041fde66ab853329ae79cee9b8d992d7

Authored by Sakthi Sivaraman
1 parent b9aba98402
Exists in master

Updated with more variance

Showing 76 changed files with 378 additions and 235 deletions Side-by-side Diff

PA2_final2/logs/log_seeds3/seed_0/configuration.json View file @ 482d7e9
... ... @@ -18,17 +18,17 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 1,
25   - "resample_sigma_y": 1,
26   - "resample_sigma_angle": 0.01,
  25 + "resample_sigma_x": 2,
  26 + "resample_sigma_y": 2,
  27 + "resample_sigma_angle": 0.04,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
30   - "laser_sigma_hit": 2,
31   -
  31 + "laser_sigma_hit": 1,
32 32  
33 33 "num_particles": 800
34 34  
PA2_final2/logs/log_seeds3/seed_0/configuration1.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 3,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
7 7  
... ... @@ -18,12 +18,13 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.1,
25   - "resample_sigma_y": 0.1,
26   - "resample_sigma_angle": 0.02,
  25 + "resample_sigma_x": 1,
  26 + "resample_sigma_y": 1,
  27 + "resample_sigma_angle": 0.01,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_0/configuration2.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 124,
  3 + "seed": 100,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -10,12 +10,13 @@
10 10 [90.0,10.0,5]
11 11 ],
12 12  
  13 +
13 14 "first_move_sigma_x": 2,
14 15 "first_move_sigma_y": 2,
15   - "first_move_sigma_angle": 0.04,
16   - "resample_sigma_x": 2,
17   - "resample_sigma_y": 2,
18   - "resample_sigma_angle": 0.04,
  16 + "first_move_sigma_angle": 0.08,
  17 + "resample_sigma_x": 1,
  18 + "resample_sigma_y": 1,
  19 + "resample_sigma_angle": 0.01,
19 20  
20 21 "laser_z_hit": 0.80,
21 22 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_0/configuration3.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 1,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -11,12 +11,13 @@
11 11 [-90.0,10.0,5]
12 12 ],
13 13  
  14 +
14 15 "first_move_sigma_x": 2,
15 16 "first_move_sigma_y": 2,
16   - "first_move_sigma_angle": 0.04,
17   - "resample_sigma_x": 2,
18   - "resample_sigma_y": 2,
19   - "resample_sigma_angle": 0.04,
  17 + "first_move_sigma_angle": 0.08,
  18 + "resample_sigma_x": 1,
  19 + "resample_sigma_y": 1,
  20 + "resample_sigma_angle": 0.01,
20 21  
21 22 "laser_z_hit": 0.80,
22 23 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_0/std_dev_results.json View file @ 482d7e9
1 1 {
2   -"std_dev_x" : [75.29445706760256]
  2 +"std_dev_x" : [72.67294079455658]
3 3 }
4 4 {
5   -"std_dev_y" : [55.166854597354295]
  5 +"std_dev_y" : [57.754087049913004]
6 6 }
7 7 {
8   -"std_dev_angle" : [1.823933683962769]
  8 +"std_dev_angle" : [1.811602678529423]
9 9 }
PA2_final2/logs/log_seeds3/seed_0/time_results.json View file @ 482d7e9
1 1 {
2   -"time_elapsed" : [0.05081304907798767]
  2 +"time_elapsed" : [0.04876814782619476]
3 3 }
PA2_final2/logs/log_seeds3/seed_1/configuration.json View file @ 482d7e9
... ... @@ -18,17 +18,17 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 1,
25   - "resample_sigma_y": 1,
26   - "resample_sigma_angle": 0.01,
  25 + "resample_sigma_x": 2,
  26 + "resample_sigma_y": 2,
  27 + "resample_sigma_angle": 0.04,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
30   - "laser_sigma_hit": 2,
31   -
  31 + "laser_sigma_hit": 1,
32 32  
33 33 "num_particles": 800
34 34  
PA2_final2/logs/log_seeds3/seed_1/configuration1.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 3,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
7 7  
... ... @@ -18,12 +18,13 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.1,
25   - "resample_sigma_y": 0.1,
26   - "resample_sigma_angle": 0.02,
  25 + "resample_sigma_x": 1,
  26 + "resample_sigma_y": 1,
  27 + "resample_sigma_angle": 0.01,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_1/configuration2.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 124,
  3 + "seed": 100,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -10,12 +10,13 @@
10 10 [90.0,10.0,5]
11 11 ],
12 12  
  13 +
13 14 "first_move_sigma_x": 2,
14 15 "first_move_sigma_y": 2,
15   - "first_move_sigma_angle": 0.04,
16   - "resample_sigma_x": 2,
17   - "resample_sigma_y": 2,
18   - "resample_sigma_angle": 0.04,
  16 + "first_move_sigma_angle": 0.08,
  17 + "resample_sigma_x": 1,
  18 + "resample_sigma_y": 1,
  19 + "resample_sigma_angle": 0.01,
19 20  
20 21 "laser_z_hit": 0.80,
21 22 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_1/configuration3.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 1,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -11,12 +11,13 @@
11 11 [-90.0,10.0,5]
12 12 ],
13 13  
  14 +
14 15 "first_move_sigma_x": 2,
15 16 "first_move_sigma_y": 2,
16   - "first_move_sigma_angle": 0.04,
17   - "resample_sigma_x": 2,
18   - "resample_sigma_y": 2,
19   - "resample_sigma_angle": 0.04,
  17 + "first_move_sigma_angle": 0.08,
  18 + "resample_sigma_x": 1,
  19 + "resample_sigma_y": 1,
  20 + "resample_sigma_angle": 0.01,
20 21  
21 22 "laser_z_hit": 0.80,
22 23 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_1/std_dev_results.json View file @ 482d7e9
1 1 {
2   -"std_dev_x" : [75.29445706760256]
  2 +"std_dev_x" : [72.67294079455658]
3 3 }
4 4 {
5   -"std_dev_y" : [55.166854597354295]
  5 +"std_dev_y" : [57.754087049913004]
6 6 }
7 7 {
8   -"std_dev_angle" : [1.823933683962769]
  8 +"std_dev_angle" : [1.811602678529423]
9 9 }
PA2_final2/logs/log_seeds3/seed_1/time_results.json View file @ 482d7e9
1 1 {
2   -"time_elapsed" : [0.05081304907798767]
  2 +"time_elapsed" : [0.04876814782619476]
3 3 }
PA2_final2/logs/log_seeds3/seed_100/configuration.json View file @ 482d7e9
... ... @@ -18,17 +18,17 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24 25 "resample_sigma_x": 2,
25 26 "resample_sigma_y": 2,
26   - "resample_sigma_angle": 0.01,
  27 + "resample_sigma_angle": 0.04,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
30   - "laser_sigma_hit": 2,
31   -
  31 + "laser_sigma_hit": 1,
32 32  
33 33 "num_particles": 800
34 34  
PA2_final2/logs/log_seeds3/seed_100/configuration1.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 3,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
7 7  
... ... @@ -18,12 +18,13 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.1,
25   - "resample_sigma_y": 0.1,
26   - "resample_sigma_angle": 0.02,
  25 + "resample_sigma_x": 1,
  26 + "resample_sigma_y": 1,
  27 + "resample_sigma_angle": 0.01,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_100/configuration2.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 124,
  3 + "seed": 100,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -10,12 +10,13 @@
10 10 [90.0,10.0,5]
11 11 ],
12 12  
  13 +
13 14 "first_move_sigma_x": 2,
14 15 "first_move_sigma_y": 2,
15   - "first_move_sigma_angle": 0.04,
16   - "resample_sigma_x": 2,
17   - "resample_sigma_y": 2,
18   - "resample_sigma_angle": 0.04,
  16 + "first_move_sigma_angle": 0.08,
  17 + "resample_sigma_x": 1,
  18 + "resample_sigma_y": 1,
  19 + "resample_sigma_angle": 0.01,
19 20  
20 21 "laser_z_hit": 0.80,
21 22 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_100/configuration3.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 1,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -11,12 +11,13 @@
11 11 [-90.0,10.0,5]
12 12 ],
13 13  
  14 +
14 15 "first_move_sigma_x": 2,
15 16 "first_move_sigma_y": 2,
16   - "first_move_sigma_angle": 0.04,
17   - "resample_sigma_x": 2,
18   - "resample_sigma_y": 2,
19   - "resample_sigma_angle": 0.04,
  17 + "first_move_sigma_angle": 0.08,
  18 + "resample_sigma_x": 1,
  19 + "resample_sigma_y": 1,
  20 + "resample_sigma_angle": 0.01,
20 21  
21 22 "laser_z_hit": 0.80,
22 23 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_100/metric_results.json View file @ 482d7e9
1 1 {
2   -"metric" : [2.0, 1.312661061114163, 1.2202156476751216, 4.591019979488673, 1.8643313902928007, 1.873668312339455, 1.6219660319778713, 1.6311532176396148, 7.136024788701019, 1.37246105985668, 1.5422224905225188, 1.6164194803290424, 1.8440773465336955, 3.130895361733332]
  2 +"metric" : [2.0, 1.3357005151791213, 1.3375832847651785, 5.686052495523467, 1.6429602498736218, 1.5734086601328194, 1.6651291397386667, 1.5486039941836274, 6.1223070630475025, 1.1734932639601352, 1.465057604360424, 1.1353117916917626, 1.399149678524301, 4.366534586133296]
3 3 }
PA2_final2/logs/log_seeds3/seed_100/std_dev_results.json View file @ 482d7e9
1 1 {
2   -"std_dev_x" : [75.14032723274629, 167.98355393289492, 172.60755598036562, 17.86035021595178, 28.96492652354512, 30.75422638069578, 24.639383675326215, 25.11520381469188, 13.399697649079084, 126.99908903060421, 122.58906508857699, 124.097313227931, 110.25304253425278, 72.2924055751403]
  2 +"std_dev_x" : [75.14032723274629, 165.06212338994106, 156.743303978508, 14.753896774744996, 26.83308346193142, 27.442450922337883, 21.445897997455123, 22.95310614737004, 14.613040598902627, 133.2626248830128, 122.92464503291856, 126.03784518839933, 92.36934579474048, 48.885752889986264]
3 3 }
4 4 {
5   -"std_dev_y" : [56.621614368670805, 22.864367666923084, 25.561230856304537, 14.69680537613156, 92.16716637945932, 94.75285922785606, 99.0217789811163, 107.71006400129929, 6.839845899986884, 23.409079329354654, 35.49694028949164, 10.341894254981705, 7.279531323726846, 36.296860061067086]
  5 +"std_dev_y" : [56.621614368670805, 20.130523567233876, 20.876574671219114, 10.090651376714167, 107.21492720672731, 115.8750811381639, 95.37226097824279, 113.27070495074038, 9.701982980534178, 18.269359032464372, 50.20942845897181, 46.37978655354632, 28.564890332518658, 29.893183873746718]
6 6 }
7 7 {
8   -"std_dev_angle" : [1.8108835899975961, 2.3900034071120237, 2.659103386046222, 3.460471442610306, 2.0336126646619834, 1.9488329927663532, 2.5872274558038644, 2.3202583526307956, 2.052711479843312, 2.8123740097536816, 2.249490861533352, 2.1035267380825826, 1.8244356138057347, 0.9202542915867028]
  8 +"std_dev_angle" : [1.8108835899975961, 2.352125537963151, 2.4386192574952243, 4.287228009342039, 2.287406381746494, 2.311841857015947, 2.5772023459034017, 2.465380262761139, 2.387735365076596, 3.8202656816179226, 2.3937826571801173, 4.165321555276715, 4.250507698355226, 0.6646452672087865]
9 9 }
PA2_final2/logs/log_seeds3/seed_100/time_results.json View file @ 482d7e9
1 1 {
2   -"time_elapsed" : [0.0527929812669754, 2.3228813633322716, 2.5824946463108063, 3.6821464970707893, 4.501981779932976, 4.611185930669308, 5.598457332700491, 5.895772032439709, 6.65541448071599, 7.208454847335815, 7.664150848984718, 8.207474283874035, 8.317491181194782, 8.987497765570879]
  2 +"time_elapsed" : [0.042996399104595184, 2.733757048845291, 3.010823082178831, 4.279615048319101, 5.222762182354927, 5.3488927483558655, 6.508115481585264, 6.8917237520217896, 7.672003947198391, 8.288224663585424, 8.812904600054026, 9.444258850067854, 9.571245864033699, 10.316981434822083]
3 3 }
PA2_final2/logs/log_seeds3/seed_12345/configuration.json View file @ 482d7e9
... ... @@ -18,17 +18,17 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 1,
25   - "resample_sigma_y": 1,
26   - "resample_sigma_angle": 0.01,
  25 + "resample_sigma_x": 2,
  26 + "resample_sigma_y": 2,
  27 + "resample_sigma_angle": 0.04,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
30   - "laser_sigma_hit": 2,
31   -
  31 + "laser_sigma_hit": 1,
32 32  
33 33 "num_particles": 800
34 34  
PA2_final2/logs/log_seeds3/seed_12345/configuration1.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 3,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
7 7  
... ... @@ -18,12 +18,13 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.1,
25   - "resample_sigma_y": 0.1,
26   - "resample_sigma_angle": 0.02,
  25 + "resample_sigma_x": 1,
  26 + "resample_sigma_y": 1,
  27 + "resample_sigma_angle": 0.01,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_12345/configuration2.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 124,
  3 + "seed": 100,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -10,12 +10,13 @@
10 10 [90.0,10.0,5]
11 11 ],
12 12  
  13 +
13 14 "first_move_sigma_x": 2,
14 15 "first_move_sigma_y": 2,
15   - "first_move_sigma_angle": 0.04,
16   - "resample_sigma_x": 2,
17   - "resample_sigma_y": 2,
18   - "resample_sigma_angle": 0.04,
  16 + "first_move_sigma_angle": 0.08,
  17 + "resample_sigma_x": 1,
  18 + "resample_sigma_y": 1,
  19 + "resample_sigma_angle": 0.01,
19 20  
20 21 "laser_z_hit": 0.80,
21 22 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_12345/configuration3.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 1,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -11,12 +11,13 @@
11 11 [-90.0,10.0,5]
12 12 ],
13 13  
  14 +
14 15 "first_move_sigma_x": 2,
15 16 "first_move_sigma_y": 2,
16   - "first_move_sigma_angle": 0.04,
17   - "resample_sigma_x": 2,
18   - "resample_sigma_y": 2,
19   - "resample_sigma_angle": 0.04,
  17 + "first_move_sigma_angle": 0.08,
  18 + "resample_sigma_x": 1,
  19 + "resample_sigma_y": 1,
  20 + "resample_sigma_angle": 0.01,
20 21  
21 22 "laser_z_hit": 0.80,
22 23 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_12345/metric_results.json View file @ 482d7e9
  1 +{
  2 +"metric" : [2.0]
  3 +}
PA2_final2/logs/log_seeds3/seed_12345/std_dev_results.json View file @ 482d7e9
  1 +{
  2 +"std_dev_x" : [72.67294079455658]
  3 +}
  4 +{
  5 +"std_dev_y" : [57.754087049913004]
  6 +}
  7 +{
  8 +"std_dev_angle" : [1.811602678529423]
  9 +}
PA2_final2/logs/log_seeds3/seed_12345/time_results.json View file @ 482d7e9
  1 +{
  2 +"time_elapsed" : [0.04876814782619476]
  3 +}
PA2_final2/logs/log_seeds3/seed_124/configuration.json View file @ 482d7e9
... ... @@ -18,17 +18,17 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 1,
25   - "resample_sigma_y": 1,
26   - "resample_sigma_angle": 0.01,
  25 + "resample_sigma_x": 2,
  26 + "resample_sigma_y": 2,
  27 + "resample_sigma_angle": 0.04,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
30   - "laser_sigma_hit": 2,
31   -
  31 + "laser_sigma_hit": 1,
32 32  
33 33 "num_particles": 800
34 34  
PA2_final2/logs/log_seeds3/seed_124/configuration1.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 3,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
7 7  
... ... @@ -18,12 +18,13 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.1,
25   - "resample_sigma_y": 0.1,
26   - "resample_sigma_angle": 0.02,
  25 + "resample_sigma_x": 1,
  26 + "resample_sigma_y": 1,
  27 + "resample_sigma_angle": 0.01,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_124/configuration2.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 124,
  3 + "seed": 100,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -10,12 +10,13 @@
10 10 [90.0,10.0,5]
11 11 ],
12 12  
  13 +
13 14 "first_move_sigma_x": 2,
14 15 "first_move_sigma_y": 2,
15   - "first_move_sigma_angle": 0.04,
16   - "resample_sigma_x": 2,
17   - "resample_sigma_y": 2,
18   - "resample_sigma_angle": 0.04,
  16 + "first_move_sigma_angle": 0.08,
  17 + "resample_sigma_x": 1,
  18 + "resample_sigma_y": 1,
  19 + "resample_sigma_angle": 0.01,
19 20  
20 21 "laser_z_hit": 0.80,
21 22 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_124/configuration3.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 1,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -11,12 +11,13 @@
11 11 [-90.0,10.0,5]
12 12 ],
13 13  
  14 +
14 15 "first_move_sigma_x": 2,
15 16 "first_move_sigma_y": 2,
16   - "first_move_sigma_angle": 0.04,
17   - "resample_sigma_x": 2,
18   - "resample_sigma_y": 2,
19   - "resample_sigma_angle": 0.04,
  17 + "first_move_sigma_angle": 0.08,
  18 + "resample_sigma_x": 1,
  19 + "resample_sigma_y": 1,
  20 + "resample_sigma_angle": 0.01,
20 21  
21 22 "laser_z_hit": 0.80,
22 23 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_124/metric_results.json View file @ 482d7e9
  1 +{
  2 +"metric" : [2.0]
  3 +}
PA2_final2/logs/log_seeds3/seed_124/std_dev_results.json View file @ 482d7e9
  1 +{
  2 +"std_dev_x" : [72.67294079455658]
  3 +}
  4 +{
  5 +"std_dev_y" : [57.754087049913004]
  6 +}
  7 +{
  8 +"std_dev_angle" : [1.811602678529423]
  9 +}
PA2_final2/logs/log_seeds3/seed_124/time_results.json View file @ 482d7e9
  1 +{
  2 +"time_elapsed" : [0.04876814782619476]
  3 +}
PA2_final2/logs/log_seeds3/seed_3/configuration.json View file @ 482d7e9
... ... @@ -18,17 +18,17 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 1,
25   - "resample_sigma_y": 1,
26   - "resample_sigma_angle": 0.01,
  25 + "resample_sigma_x": 2,
  26 + "resample_sigma_y": 2,
  27 + "resample_sigma_angle": 0.04,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
30   - "laser_sigma_hit": 2,
31   -
  31 + "laser_sigma_hit": 1,
32 32  
33 33 "num_particles": 800
34 34  
PA2_final2/logs/log_seeds3/seed_3/configuration1.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 3,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
7 7  
... ... @@ -18,12 +18,13 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.1,
25   - "resample_sigma_y": 0.1,
26   - "resample_sigma_angle": 0.02,
  25 + "resample_sigma_x": 1,
  26 + "resample_sigma_y": 1,
  27 + "resample_sigma_angle": 0.01,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_3/configuration2.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 124,
  3 + "seed": 100,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -10,12 +10,13 @@
10 10 [90.0,10.0,5]
11 11 ],
12 12  
  13 +
13 14 "first_move_sigma_x": 2,
14 15 "first_move_sigma_y": 2,
15   - "first_move_sigma_angle": 0.04,
16   - "resample_sigma_x": 2,
17   - "resample_sigma_y": 2,
18   - "resample_sigma_angle": 0.04,
  16 + "first_move_sigma_angle": 0.08,
  17 + "resample_sigma_x": 1,
  18 + "resample_sigma_y": 1,
  19 + "resample_sigma_angle": 0.01,
19 20  
20 21 "laser_z_hit": 0.80,
21 22 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_3/configuration3.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 1,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -11,12 +11,13 @@
11 11 [-90.0,10.0,5]
12 12 ],
13 13  
  14 +
14 15 "first_move_sigma_x": 2,
15 16 "first_move_sigma_y": 2,
16   - "first_move_sigma_angle": 0.04,
17   - "resample_sigma_x": 2,
18   - "resample_sigma_y": 2,
19   - "resample_sigma_angle": 0.04,
  17 + "first_move_sigma_angle": 0.08,
  18 + "resample_sigma_x": 1,
  19 + "resample_sigma_y": 1,
  20 + "resample_sigma_angle": 0.01,
20 21  
21 22 "laser_z_hit": 0.80,
22 23 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_3/metric_results.json View file @ 482d7e9
1 1 {
2   -"metric" : [2.0]
  2 +"metric" : [2.0, 1.1660740998672652, 1.2072828527248602, 5.016915540980434, 1.4172220849870167, 1.4972402022889288, 1.4922984424521257, 1.2565744160044416, 6.337618164756487, 1.1566267137528246, 1.162495949442921, 0.9972552057887285, 1.014734495156261, 3.5836743365345987]
3 3 }
PA2_final2/logs/log_seeds3/seed_3/std_dev_results.json View file @ 482d7e9
1 1 {
2   -"std_dev_x" : [75.29445706760256]
  2 +"std_dev_x" : [75.29445706760256, 189.5172561666642, 174.10524861455175, 16.512487517681112, 21.817122618151746, 25.767070911768513, 25.08623052398177, 30.46485683709552, 14.868470135141974, 154.23826267117695, 158.9229599260088, 166.53635035861004, 156.92571907127382, 59.14456251179537]
3 3 }
4 4 {
5   -"std_dev_y" : [55.166854597354295]
  5 +"std_dev_y" : [55.166854597354295, 19.084578669074766, 20.603334222208616, 12.56741575405459, 122.66616533571056, 119.85162890387312, 108.64242420969623, 142.3320510136589, 7.1143337995919715, 22.473505514548485, 54.96730739492427, 39.5183561614432, 37.498352779954494, 36.112542620939024]
6 6 }
7 7 {
8   -"std_dev_angle" : [1.823933683962769]
  8 +"std_dev_angle" : [1.823933683962769, 2.6980068136564626, 2.7026179243265984, 3.5161055543170328, 2.730275809921704, 2.478745664081173, 2.7839382213109736, 2.9643075301963506, 2.7034078479269104, 3.270029301038262, 3.002747389810085, 4.036040924260856, 4.1813316468166075, 0.8154524720977073]
9 9 }
PA2_final2/logs/log_seeds3/seed_3/time_results.json View file @ 482d7e9
1 1 {
2   -"time_elapsed" : [0.05081304907798767]
  2 +"time_elapsed" : [0.048318132758140564, 2.8210289515554905, 3.0978875681757927, 4.370215870440006, 5.319890331476927, 5.466786433011293, 6.582090251147747, 6.92789201810956, 7.744251698255539, 8.4482965990901, 8.963574182242155, 9.5772335678339, 9.706857532262802, 10.48179953545332]
3 3 }
PA2_final2/logs/log_seeds3/seed_4/configuration.json View file @ 482d7e9
... ... @@ -18,17 +18,17 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 1,
25   - "resample_sigma_y": 1,
26   - "resample_sigma_angle": 0.01,
  25 + "resample_sigma_x": 2,
  26 + "resample_sigma_y": 2,
  27 + "resample_sigma_angle": 0.04,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
30   - "laser_sigma_hit": 2,
31   -
  31 + "laser_sigma_hit": 1,
32 32  
33 33 "num_particles": 800
34 34  
PA2_final2/logs/log_seeds3/seed_4/configuration1.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 3,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
7 7  
... ... @@ -18,12 +18,13 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.1,
25   - "resample_sigma_y": 0.1,
26   - "resample_sigma_angle": 0.02,
  25 + "resample_sigma_x": 1,
  26 + "resample_sigma_y": 1,
  27 + "resample_sigma_angle": 0.01,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_4/configuration2.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 124,
  3 + "seed": 100,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -10,12 +10,13 @@
10 10 [90.0,10.0,5]
11 11 ],
12 12  
  13 +
13 14 "first_move_sigma_x": 2,
14 15 "first_move_sigma_y": 2,
15   - "first_move_sigma_angle": 0.04,
16   - "resample_sigma_x": 2,
17   - "resample_sigma_y": 2,
18   - "resample_sigma_angle": 0.04,
  16 + "first_move_sigma_angle": 0.08,
  17 + "resample_sigma_x": 1,
  18 + "resample_sigma_y": 1,
  19 + "resample_sigma_angle": 0.01,
19 20  
20 21 "laser_z_hit": 0.80,
21 22 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_4/configuration3.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 1,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -11,12 +11,13 @@
11 11 [-90.0,10.0,5]
12 12 ],
13 13  
  14 +
14 15 "first_move_sigma_x": 2,
15 16 "first_move_sigma_y": 2,
16   - "first_move_sigma_angle": 0.04,
17   - "resample_sigma_x": 2,
18   - "resample_sigma_y": 2,
19   - "resample_sigma_angle": 0.04,
  17 + "first_move_sigma_angle": 0.08,
  18 + "resample_sigma_x": 1,
  19 + "resample_sigma_y": 1,
  20 + "resample_sigma_angle": 0.01,
20 21  
21 22 "laser_z_hit": 0.80,
22 23 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_4/metric_results.json View file @ 482d7e9
  1 +{
  2 +"metric" : [2.0]
  3 +}
PA2_final2/logs/log_seeds3/seed_4/std_dev_results.json View file @ 482d7e9
  1 +{
  2 +"std_dev_x" : [72.67294079455658]
  3 +}
  4 +{
  5 +"std_dev_y" : [57.754087049913004]
  6 +}
  7 +{
  8 +"std_dev_angle" : [1.811602678529423]
  9 +}
PA2_final2/logs/log_seeds3/seed_4/time_results.json View file @ 482d7e9
  1 +{
  2 +"time_elapsed" : [0.04876814782619476]
  3 +}
PA2_final2/logs/log_seeds3/seed_444/configuration.json View file @ 482d7e9
... ... @@ -18,17 +18,17 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 1,
25   - "resample_sigma_y": 1,
26   - "resample_sigma_angle": 0.01,
  25 + "resample_sigma_x": 2,
  26 + "resample_sigma_y": 2,
  27 + "resample_sigma_angle": 0.04,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
30   - "laser_sigma_hit": 2,
31   -
  31 + "laser_sigma_hit": 1,
32 32  
33 33 "num_particles": 800
34 34  
PA2_final2/logs/log_seeds3/seed_444/configuration1.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 3,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
7 7  
... ... @@ -18,12 +18,13 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.1,
25   - "resample_sigma_y": 0.1,
26   - "resample_sigma_angle": 0.02,
  25 + "resample_sigma_x": 1,
  26 + "resample_sigma_y": 1,
  27 + "resample_sigma_angle": 0.01,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_444/configuration2.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 124,
  3 + "seed": 100,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -10,12 +10,13 @@
10 10 [90.0,10.0,5]
11 11 ],
12 12  
  13 +
13 14 "first_move_sigma_x": 2,
14 15 "first_move_sigma_y": 2,
15   - "first_move_sigma_angle": 0.04,
16   - "resample_sigma_x": 2,
17   - "resample_sigma_y": 2,
18   - "resample_sigma_angle": 0.04,
  16 + "first_move_sigma_angle": 0.08,
  17 + "resample_sigma_x": 1,
  18 + "resample_sigma_y": 1,
  19 + "resample_sigma_angle": 0.01,
19 20  
20 21 "laser_z_hit": 0.80,
21 22 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_444/configuration3.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 1,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -11,12 +11,13 @@
11 11 [-90.0,10.0,5]
12 12 ],
13 13  
  14 +
14 15 "first_move_sigma_x": 2,
15 16 "first_move_sigma_y": 2,
16   - "first_move_sigma_angle": 0.04,
17   - "resample_sigma_x": 2,
18   - "resample_sigma_y": 2,
19   - "resample_sigma_angle": 0.04,
  17 + "first_move_sigma_angle": 0.08,
  18 + "resample_sigma_x": 1,
  19 + "resample_sigma_y": 1,
  20 + "resample_sigma_angle": 0.01,
20 21  
21 22 "laser_z_hit": 0.80,
22 23 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_444/metric_results.json View file @ 482d7e9
  1 +{
  2 +"metric" : [2.0]
  3 +}
PA2_final2/logs/log_seeds3/seed_444/std_dev_results.json View file @ 482d7e9
  1 +{
  2 +"std_dev_x" : [72.67294079455658]
  3 +}
  4 +{
  5 +"std_dev_y" : [57.754087049913004]
  6 +}
  7 +{
  8 +"std_dev_angle" : [1.811602678529423]
  9 +}
PA2_final2/logs/log_seeds3/seed_444/time_results.json View file @ 482d7e9
  1 +{
  2 +"time_elapsed" : [0.04876814782619476]
  3 +}
PA2_final2/logs/log_seeds3/seed_563/configuration.json View file @ 482d7e9
... ... @@ -18,17 +18,17 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 1,
25   - "resample_sigma_y": 1,
26   - "resample_sigma_angle": 0.01,
  25 + "resample_sigma_x": 2,
  26 + "resample_sigma_y": 2,
  27 + "resample_sigma_angle": 0.04,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
30   - "laser_sigma_hit": 2,
31   -
  31 + "laser_sigma_hit": 1,
32 32  
33 33 "num_particles": 800
34 34  
PA2_final2/logs/log_seeds3/seed_563/configuration1.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 3,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
7 7  
... ... @@ -18,12 +18,13 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.1,
25   - "resample_sigma_y": 0.1,
26   - "resample_sigma_angle": 0.02,
  25 + "resample_sigma_x": 1,
  26 + "resample_sigma_y": 1,
  27 + "resample_sigma_angle": 0.01,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_563/configuration2.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 124,
  3 + "seed": 100,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -10,12 +10,13 @@
10 10 [90.0,10.0,5]
11 11 ],
12 12  
  13 +
13 14 "first_move_sigma_x": 2,
14 15 "first_move_sigma_y": 2,
15   - "first_move_sigma_angle": 0.04,
16   - "resample_sigma_x": 2,
17   - "resample_sigma_y": 2,
18   - "resample_sigma_angle": 0.04,
  16 + "first_move_sigma_angle": 0.08,
  17 + "resample_sigma_x": 1,
  18 + "resample_sigma_y": 1,
  19 + "resample_sigma_angle": 0.01,
19 20  
20 21 "laser_z_hit": 0.80,
21 22 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_563/configuration3.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 1,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -11,12 +11,13 @@
11 11 [-90.0,10.0,5]
12 12 ],
13 13  
  14 +
14 15 "first_move_sigma_x": 2,
15 16 "first_move_sigma_y": 2,
16   - "first_move_sigma_angle": 0.04,
17   - "resample_sigma_x": 2,
18   - "resample_sigma_y": 2,
19   - "resample_sigma_angle": 0.04,
  17 + "first_move_sigma_angle": 0.08,
  18 + "resample_sigma_x": 1,
  19 + "resample_sigma_y": 1,
  20 + "resample_sigma_angle": 0.01,
20 21  
21 22 "laser_z_hit": 0.80,
22 23 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_563/metric_results.json View file @ 482d7e9
  1 +{
  2 +"metric" : [2.0]
  3 +}
PA2_final2/logs/log_seeds3/seed_563/std_dev_results.json View file @ 482d7e9
  1 +{
  2 +"std_dev_x" : [72.67294079455658]
  3 +}
  4 +{
  5 +"std_dev_y" : [57.754087049913004]
  6 +}
  7 +{
  8 +"std_dev_angle" : [1.811602678529423]
  9 +}
PA2_final2/logs/log_seeds3/seed_563/time_results.json View file @ 482d7e9
  1 +{
  2 +"time_elapsed" : [0.04876814782619476]
  3 +}
PA2_final2/logs/log_seeds3/seed_9/configuration.json View file @ 482d7e9
... ... @@ -18,17 +18,17 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 1,
25   - "resample_sigma_y": 1,
26   - "resample_sigma_angle": 0.01,
  25 + "resample_sigma_x": 2,
  26 + "resample_sigma_y": 2,
  27 + "resample_sigma_angle": 0.04,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
30   - "laser_sigma_hit": 2,
31   -
  31 + "laser_sigma_hit": 1,
32 32  
33 33 "num_particles": 800
34 34  
PA2_final2/logs/log_seeds3/seed_9/configuration1.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 3,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
7 7  
... ... @@ -18,12 +18,13 @@
18 18 [-90.0,10.0,5]
19 19 ],
20 20  
  21 +
21 22 "first_move_sigma_x": 2,
22 23 "first_move_sigma_y": 2,
23 24 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.1,
25   - "resample_sigma_y": 0.1,
26   - "resample_sigma_angle": 0.02,
  25 + "resample_sigma_x": 1,
  26 + "resample_sigma_y": 1,
  27 + "resample_sigma_angle": 0.01,
27 28  
28 29 "laser_z_hit": 0.80,
29 30 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_9/configuration2.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 124,
  3 + "seed": 100,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -10,12 +10,13 @@
10 10 [90.0,10.0,5]
11 11 ],
12 12  
  13 +
13 14 "first_move_sigma_x": 2,
14 15 "first_move_sigma_y": 2,
15   - "first_move_sigma_angle": 0.04,
16   - "resample_sigma_x": 2,
17   - "resample_sigma_y": 2,
18   - "resample_sigma_angle": 0.04,
  16 + "first_move_sigma_angle": 0.08,
  17 + "resample_sigma_x": 1,
  18 + "resample_sigma_y": 1,
  19 + "resample_sigma_angle": 0.01,
19 20  
20 21 "laser_z_hit": 0.80,
21 22 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_9/configuration3.json View file @ 482d7e9
1 1 {
2 2  
3   - "seed": 1,
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [90.0, 5.0, 18],
7 7  
... ... @@ -11,12 +11,13 @@
11 11 [-90.0,10.0,5]
12 12 ],
13 13  
  14 +
14 15 "first_move_sigma_x": 2,
15 16 "first_move_sigma_y": 2,
16   - "first_move_sigma_angle": 0.04,
17   - "resample_sigma_x": 2,
18   - "resample_sigma_y": 2,
19   - "resample_sigma_angle": 0.04,
  17 + "first_move_sigma_angle": 0.08,
  18 + "resample_sigma_x": 1,
  19 + "resample_sigma_y": 1,
  20 + "resample_sigma_angle": 0.01,
20 21  
21 22 "laser_z_hit": 0.80,
22 23 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_9/std_dev_results.json View file @ 482d7e9
1 1 {
2   -"std_dev_x" : [75.29445706760256]
  2 +"std_dev_x" : [72.67294079455658]
3 3 }
4 4 {
5   -"std_dev_y" : [55.166854597354295]
  5 +"std_dev_y" : [57.754087049913004]
6 6 }
7 7 {
8   -"std_dev_angle" : [1.823933683962769]
  8 +"std_dev_angle" : [1.811602678529423]
9 9 }
PA2_final2/logs/log_seeds3/seed_9/time_results.json View file @ 482d7e9
1 1 {
2   -"time_elapsed" : [0.05081304907798767]
  2 +"time_elapsed" : [0.04876814782619476]
3 3 }
PA2_final2/scripts/basetruth.json View file @ 482d7e9
1 1 {
2   -"basetruth" : [19.0, 185.00000000000227]
  2 +"basetruth" : [16.17761845481734, 181.58779321516556]
3 3 }
PA2_final2/scripts/configuration.json View file @ 482d7e9
... ... @@ -3,26 +3,33 @@
3 3 "seed": 0,
4 4  
5 5 "move_list": [
6   - [90.0, 5.0, 18],
7   - [90.0, 10.0, 16],
8   - [-90.0, 10.0, 3],
  6 + [0.0, 5.0,24],
  7 + [90.0,10.0,1],
  8 + [90.0,10.0,10],
  9 + [-90.0,10.0,7],
  10 + [0.0,5.0,1],
  11 + [180.0,20.0,7],
  12 + [0.0,5.0,3],
  13 + [180.0,20.0,4],
  14 + [90.0,20.0,4],
  15 + [-90.0,10.0,3],
9 16 [90.0,10.0,4],
10 17 [0.0,5.0,1],
11 18 [-90.0,10.0,5]
12 19 ],
13 20  
14 21  
  22 +
15 23 "first_move_sigma_x": 2,
16 24 "first_move_sigma_y": 2,
17 25 "first_move_sigma_angle": 0.08,
18   - "resample_sigma_x": 1,
19   - "resample_sigma_y": 1,
20   - "resample_sigma_angle": 0.01,
  26 + "resample_sigma_x": 2,
  27 + "resample_sigma_y": 2,
  28 + "resample_sigma_angle": 0.04,
21 29  
22 30 "laser_z_hit": 0.80,
23 31 "laser_z_rand": 0.05,
24   - "laser_sigma_hit": 2,
25   -
  32 + "laser_sigma_hit": 1,
26 33  
27 34 "num_particles": 800
28 35  
PA2_final2/scripts/configuration1.json View file @ 482d7e9
... ... @@ -22,9 +22,9 @@
22 22 "first_move_sigma_x": 2,
23 23 "first_move_sigma_y": 2,
24 24 "first_move_sigma_angle": 0.08,
25   - "resample_sigma_x": 1,
26   - "resample_sigma_y": 1,
27   - "resample_sigma_angle": 0.01,
  25 + "resample_sigma_x": 2,
  26 + "resample_sigma_y": 2,
  27 + "resample_sigma_angle": 0.04,
28 28  
29 29 "laser_z_hit": 0.80,
30 30 "laser_z_rand": 0.05,
PA2_final2/scripts/configuration2.json View file @ 482d7e9
... ... @@ -14,9 +14,9 @@
14 14 "first_move_sigma_x": 2,
15 15 "first_move_sigma_y": 2,
16 16 "first_move_sigma_angle": 0.08,
17   - "resample_sigma_x": 1,
18   - "resample_sigma_y": 1,
19   - "resample_sigma_angle": 0.01,
  17 + "resample_sigma_x": 2,
  18 + "resample_sigma_y": 2,
  19 + "resample_sigma_angle": 0.04,
20 20  
21 21 "laser_z_hit": 0.80,
22 22 "laser_z_rand": 0.05,
PA2_final2/scripts/configuration3.json View file @ 482d7e9
... ... @@ -15,9 +15,9 @@
15 15 "first_move_sigma_x": 2,
16 16 "first_move_sigma_y": 2,
17 17 "first_move_sigma_angle": 0.08,
18   - "resample_sigma_x": 1,
19   - "resample_sigma_y": 1,
20   - "resample_sigma_angle": 0.01,
  18 + "resample_sigma_x": 2,
  19 + "resample_sigma_y": 2,
  20 + "resample_sigma_angle": 0.04,
21 21  
22 22 "laser_z_hit": 0.80,
23 23 "laser_z_rand": 0.05,
PA2_final2/scripts/metric_results.json View file @ 482d7e9
1 1 {
2   -"metric" : [2.0, 2.356703674805745, 6.635552032937232, 22.85081266976654, 26.7714287771245, 32.929158732078136, 52.37025846671281]
  2 +"metric" : [2.0, 2.4041988027113925, 7.163105861855153, 18.562799944290717, 20.32965156936095, 19.564110953508568, 27.47231178823044]
3 3 }
PA2_final2/scripts/robot.py View file @ 482d7e9
... ... @@ -35,7 +35,7 @@
35 35 xs, ys = self.laser_range_end(scan_msg)
36 36 total_prob = 0
37 37 #total_prob = 1
38   - bias = 0.5
  38 + bias = 0.25
39 39  
40 40 for i in range(0, len(xs), 10):
41 41 likelihood = likelihood_field.get_cell(xs[i], ys[i])
42 42  
... ... @@ -249,8 +249,39 @@
249 249 def particles_resample(self):
250 250 w = []
251 251 total_w = 0.0
  252 +
  253 +
  254 + #AVERAGING Begins
  255 + laser_scan_info_avg = []
  256 + for i in range(len(self.laser_scan_info.ranges)):
  257 + laser_scan_info_avg.append(self.laser_scan_info.ranges[i])
  258 +
  259 + for count in range(9):
  260 + rospy.sleep(0.1)
  261 + for i in range(len(self.laser_scan_info.ranges)):
  262 + laser_scan_info_avg[i] += self.laser_scan_info.ranges[i]
  263 +
  264 + for i in range(len(self.laser_scan_info.ranges)):
  265 + laser_scan_info_avg[i] /= 10
  266 +
  267 + self.avg_scan = LaserScan()
  268 + self.avg_scan.header = self.laser_scan_info.header
  269 + self.avg_scan.angle_min = self.laser_scan_info.angle_min
  270 + self.avg_scan.angle_max = self.laser_scan_info.angle_max
  271 + self.avg_scan.angle_increment = self.laser_scan_info.angle_increment
  272 + self.avg_scan.time_increment = self.laser_scan_info.time_increment
  273 + self.avg_scan.scan_time = self.laser_scan_info.scan_time
  274 + self.avg_scan.range_min = self.laser_scan_info.range_min
  275 + self.avg_scan.range_max = self.laser_scan_info.range_max
  276 + self.avg_scan.intensities = self.laser_scan_info.intensities
  277 + for i in range(len(self.laser_scan_info.ranges)):
  278 + self.avg_scan.ranges.append(self.laser_scan_info.ranges[i])
  279 + #AVERAGING Ends
  280 +
  281 +
252 282 for particle_index in range(self.num_particles):
253   - w.append(self.particles[particle_index].sense(self.laser_scan_info, self.likelihood_field))
  283 + #w.append(self.particles[particle_index].sense(self.laser_scan_info, self.likelihood_field))
  284 + w.append(self.particles[particle_index].sense(self.avg_scan, self.likelihood_field))
254 285 total_w += w[particle_index]
255 286  
256 287 prob_pos = []
PA2_final2/scripts/std_dev_results.json View file @ 482d7e9
1 1 {
2   -"std_dev_x" : [119.70247120780475, 94.04370611139275, 21.485272285004346, 18.397058179766205, 4.828066929638059, 3.745806085128746, 3.701635409800251]
  2 +"std_dev_x" : [119.70247120780475, 94.51626137183102, 19.120428428954636, 13.5399583352921, 5.742967241916149, 6.188983982278429, 6.81404617949343]
3 3 }
4 4 {
5   -"std_dev_y" : [100.40326940808279, 31.855508931835285, 12.437092106547519, 9.060726673609949, 3.3967558983216, 2.9847509824228107, 3.3052978016215797]
  5 +"std_dev_y" : [100.40326940808279, 31.51687071432209, 14.241306690046551, 11.858970326300533, 5.419962588657324, 5.409203548411524, 6.859357802712588]
6 6 }
7 7 {
8   -"std_dev_angle" : [1.8512396722819926, 2.36363676415545, 5.410265744269727, 0.12153398916464855, 6.062400208335854, 5.988920746591626, 0.08862907665405621]
  8 +"std_dev_angle" : [1.851280805078172, 2.214233065311416, 3.0351168587723785, 0.18732738428853796, 3.398575260214449, 3.325972556488691, 0.16363788011123948]
9 9 }
PA2_final2/scripts/time_results.json View file @ 482d7e9
1 1 {
2   -"time_elapsed" : [0.04720960184931755, 1.9634521342813969, 3.6755722165107727, 4.140649318695068, 4.699574884027243, 4.812452383339405, 5.501383017748594]
  2 +"time_elapsed" : [0.044350214302539825, 2.265076633542776, 4.23632775247097, 4.756045736372471, 5.3750233836472034, 5.505158584564924, 6.286220449954271]
3 3 }