Simultaneous localization and mapping (page 168) a) Vary the characteristics of the sensor (covariance, sample rate, range limits and bearing angle limits) and investigate the effect on performance....

Simultaneous localization and mapping (page 168) a) Vary the characteristics of the sensor (covariance, sample rate, range limits and bearing angle limits) and investigate the effect on performance. b) Use the bearing-only sensor from above and investigate performance relative to using a range and bearing sensor. c) Modify the EKF to perform data association instead of using the landmark identity returned by the sensor. d) Figure 6.11 compares the actual and estimated position. Plot the actual and estimated heading angle. e) Compare the variance associated with heading to the variance associated with position. How do these change with increasing levels of range and bearing angle variance in the sensor?