The variable alpha, mentioned in the last page, is said to be the width of the region, which, as I understand, is the width of the cone of the sensor as it considers an ultrasonic sensor.What exactly is the beam index k, mentioned in the same page?.Why is the transpose of the matrix given here instead of a simple matrix? In the third picture at the bottom, the robot pose xt is described by a transpose of a matrix containing the x,y coordinates and the yaw angle of the robot.Here is a link containing a few pictures where the algorithm is described. I’m trying to understand occupancy grid mapping and its algorithm, however, I have a hard time understanding the notation and the concepts used here, so I could use some help.
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