Toward Simple Strategy for Optimal Tracking and Localization of Robots With Adaptive Particle Filtering

@article{Sanguino2016TowardSS,
  title={Toward Simple Strategy for Optimal Tracking and Localization of Robots With Adaptive Particle Filtering},
  author={Tomas de J Mateo Sanguino and Francisco Ponce Gomez},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2016},
  volume={21},
  pages={2793-2804}
}
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… CONTINUE READING

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