Here you can download the source code and/or binaries of the application. Both are backed by the MIT license (see below). For license information about the embedded components please refer to their corresponding web sites.

The application is written in C# (VisualStudio 2008) and requires .Net 3.5. The user interface is built is based on WPF and as a result unfortunately only works on Windows. However, the Monte Carlo Localization algorithm itself (including all helper classes) is implemented in the non-UI library 'ProbabilisticRobot' which is independent of WPF and should either directly compile against Mono on Linux / Apple or require only very minor tweaks.

Binaries:

ProbabilisticRobotics.Binaries.zip
Extract into a folder and start ProbabilisticRobot.UI.exe

Source Code:

ProbabilisticRobotics.Source.zip
Extract into a folder then open the solution file ProbabilisticRobot.sln in the Code sub folder.

Embedded Components

• Troschuetz.Random: http://www.codeproject.com/KB/recipes/Random.aspx
• WPF Toolkit (for the UI only): http://wpf.codeplex.com/Wikipage

License

Copyright (c) 2010 Dr. Rainer Hessmer

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.