This c# application was made as a test ground for a grid slam algorythm that I'm preparing for a Microsoft Robotics Studio service. It allows you to tweak most of the parameters of grid slam including motion errors, the number of sensors, their placement, beam models and cone models for each sensor. It was designed for sonars but includes presets for infrared and laser.
If you want to spend some time wondering:
"will it close the loop, will it close the loop .... "
Download the appliction...
Diversity Grid Slam Explorer Beta - release notes