Particle Filter

[parham haghighi rad]

Hi All
 
I have Grid with n number of rows and n number of columns, and there is an agent in the environment which it has to move freely while its avoiding obstacles
I am using Particle Filter Algorithm (simplified Markov) with recursive update. My problem is that my virtual agents which i use them to detect the walls and then i filter them, they don't update the information to actual agent.
 
Any suggestion 
 
Thanks
 
Parham
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