This is a tutorial on how to use the belief space planning toolbox that I have developed in conjunction with Dr. Ali-akbar Agha-mohammadi. This tutorial will be a living entity and evolve with time as I get time to build it up.
Part 1: Installing the dependencies
Part 2: Understanding how the planners work
Part 3: Running the demos
Part 4: Developing your own setup
4.1 You can generate the environment, robot etc using Google Sketchup, Catia or any such CAD tool and export as an obj file. I use sketchup because it has the smallest learning curve, its very beginner friendly.