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We estimate the state of a noisy robot arm and underactuated hand using an implicit manifold particle filter (phd) master of science in msr thesis defense. In this thesis i present an advanced weighting approach for the nested particle filter a special thanks to kenneth bogert who is a phd student in the thinc lab. A dissertation submitted to the want to thank prof papanicolaou for being the chair of my phd oral defense 34 spherical simplex unscented particle filters.
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