Let G = (V,E) be a connected graph and W = wx,w2,''',wk be an ordered subset of F( G). For any vertex v g V , the locating code of with respect to
RBPF (Rao-Blackwellized Particle Filter) is a popular PF (Particle Filter) in decreasing thedimension of estimation problems and FastSLAM (Fast Simultaneous Localiza