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xvii 1 Introducao 1 1.1 Contextualizacao e Motivacao . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Objetivos do Projeto de Pesquisa . . . . . . . . . . . . . . . . . . . . . . . 5 1.3 Organizacao da Dissertacao . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2 Fundamentacao Teorica 9 2.1 Robotica Probabiĺistica . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.1.1 Modelagem de Sistemas Roboticos . . . . . . . . . . . . . . . . . . 9 2.1.2 Estimacao Probabiĺistica de Estado . . . . . . . . . . . . . . . . . . 11 2.1.3 Filtros de Particulas . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.1.4 Controle Probabiĺistico . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.2 Geracao de Numeros Aleatorios . . . . . . . . . . . . . . . . . . . . . . . . 16 2.2.1 Conceitos Fundamentais . . . . . . . . . . . . . . . . . . . . . . . . 16

Co-projeto de hardware/software do filtro de partículas para localização em tempo real de robôs móveis