fbattocchia

Study and evaluate implementation of adaptive clustering algorithm

1

### Feature description The `LikelihoodFieldProb` model uses clustering to enhance robustness against unmapped objects. Although this significantly improves the model statistics obtained in `Lamkin`, it still results in twice the...

Integrated velocity motion model

5

### Proposed changes This branch adds integrated velocity motion model to the Beluga #### Type of change - [ ] 🐛 Bugfix (change which fixes an issue) - [x] 🚀...

Add timer-based propagation functionality to AMCL

1

### Proposed changes - Add 'increase_propagation' parameter (0-100 Hz) for timer-based propagation - Implement propagation_timer_callback() for forced propagation updates - Add update_propagation() method to Amcl class for motion-only updates -...