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The ability of robotic systems to autonomously understand and/or navigate in uncertain environments is critically dependent on fairly accurate strategies, which are not always optimally achieved due to effectiveness, computational cost, and parameter settings. In this paper, we propose a novel and simple adaptive strategy to increase the efficiency and drastically reduce the computational effort in particle filters (PFs). The purpose of the adaptive approach (dispersion-based adaptive particle filter - DAPF) is to provide higher number of particles during the initial searching state (when the localization presents greater uncertainty) and fewer particles during the subsequent state (when the localization exhibits less uncertainty). With the aim of studying the dynamical PF behavior regarding others and putting the proposed algorithm into practice, we designed a methodology based on different target applications and a …