nengo-slam's People
nengo-slam's Issues
support multiple hypotheses
Write a test for this, then revisit the issue.
Refactor into template, usage examples, tests
Refactor code into a reusable template, usage examples / tests. Consider merging into nengo at that point.
local connectivity of representation
Sparse connectivity can make integrator more accurate, and more effiicient.
test competition and inhibition between hypotheses
Test and re-visit what needs to be done.
Position override
For supporting multiple hypotheses, write a test that when velocity is 0, the new injected position does a couple of things:
- if injected when the "current packet" is very broad / undefined... that it quickly takes over (namely at the beginning of a simulation)
- if injected at the same point as the current packet, nothing
- if injected close to the current packet, moves it.
- if injected far from the current packet, gradually replaces it via renormalization
Figure out where the tradeoff point is between (2) and (3) and consider how to validate that.
support larger range of speeds
Look at robot requirements, support necessary range of speeds.
work on multiple dimensions (2D + pose)
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