Other Bayesian Localization Tricks:
- Gaussian Mixture Models
SLAM
- Gaussian slam
- Density maps
Possibly Log probabilites for decentralization
- Send sum of log() of each observed probability so far
- Receiver has two sums of logs:
- received observation
- complete model (received observations + own observations + motion model)
- On receipt of new sum, complete model += (new - local received sum)
- Exponentiate sums to find actual probabilities when needed