Stochastic Mapping Frameworks
نویسندگان
چکیده
Stochastic mapping is an approach to the concurrent mapping and localization (CML) problem. The approach is powerful because feature and robot states are explicitly correlated. Improving the estimate of any state automatically improves the estimates of correlated states. This paper describes a number of extensions to the stochastic mapping framework, which are made possible by the incorporation of past vehicle states into the state vector to explicitly represent the robot’s trajectory. Having access to past robot states simplifies mapping, navigation, and cooperation. Experimental results using sonar data are presented.
منابع مشابه
Mapping CRC Card into Stochastic Petri Net for Analyzing and Evaluating Quality Parameter of Security (TECHNICAL NOTE)
CRC cards are unconventional method for identifying and describing classes, behavior and its responsibilities and collaborators of class. Representation of three categories of class, responsibilities and collaborators can give proper image of scenario. These cards are effective method for analyzing scenarios. With all positive features of CRC cards, of weaknesses of these cards are failure to s...
متن کاملA Multi-Stage Single-Machine Replacement Strategy Using Stochastic Dynamic Programming
In this paper, the single machine replacement problem is being modeled into the frameworks of stochastic dynamic programming and control threshold policy, where some properties of the optimal values of the control thresholds are derived. Using these properties and by minimizing a cost function, the optimal values of two control thresholds for the time between productions of two successive nonco...
متن کاملMapping Activity Diagram to Petri Net: Application of Markov Theory for Analyzing Non-Functional Parameters
The quality of an architectural design of a software system has a great influence on achieving non-functional requirements of a system. A regular software development project is often influenced by non-functional factors such as the customers' expectations about the performance and reliability of the software as well as the reduction of underlying risks. The evaluation of non-functional paramet...
متن کاملEntropy-Based Environment Exploration and Stochastic Optimal Control
This paper deals with the problem of mapping an unknown environment by a team of autonomous agents or decision makers. A discrete grid map of the environment is considered in which each cell is labeled as free or not free, depending on the presence of an obstacle. The decision makers can communicate with one another and coordinate their actions. A preliminary study on the formulation of the pro...
متن کاملA reliability-based maintenance technicians’ workloads optimisation model with stochastic consideration
The growing interest in technicians’ workloads research is probably associated with the recent surge in competition. This was prompted by unprecedented technological development that triggers changes in customer tastes and preferences for industrial goods. In a quest for business improvement, this worldwide intense competition in industries has stimulated theories and practical frameworks that ...
متن کامل