Localizing Cozmo using a Particle Filter

In this project, I will enable Cozmo to localize within its arena using a Particle Filter. The main processing loop should:

• Obtain odometry information • Obtain list of currently seen markers and their poses • Update the particle filter using the above information • Update the particle filter GUI (for debugging) • Determine the robot’s actions based on the current state of the localization system. For example, I may want the robot to actively look around if the localization has not converged (i.e. global localization problem), and drive to the goal if localization has converged (i.e. position tracking problem). • Have the robot drive to the goal. Note that the goal is defined in terms of both position (x,y) = (6 inches, 10 inches) and orientation h = 0 degrees. Once there, have the robot play a happy animation and then stand still. • Make my code robust to the “kidnapped robot problem” by resetting my localization if the robot is picked up. This should trigger both when the robot is on its way to the goal and once it has reached it (i.e. picking up the robot from the goal and placing it somewhere else should immediately cause it to try to localize itself and search for the goal again).