Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: An ant-based filtering random-finite-set approach to simultaneous localization and mapping
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Abstract:
Inspired by ant foraging, as well as modeling of the feature map and measurements as random finite sets, a novel formulation in an ant colony framework is proposed to jointly estimate the map and the vehicle trajectory so as to solve a feature-based simultaneous localization and mapping (SLAM) problem. This so-called ant-PHD-SLAM algorithm allows decomposing the recursion for the joint map-trajectory posterior density into a jointly propagated posterior density of the vehicle trajectory and the posterior density of the feature map conditioned on the vehicle trajectory. ; More specifically, an ant-PHD filter is proposed to jointly estimate the number of map features and their locations, namely, using the powerful search ability and collective cooperation of ants to complete the PHD-SLAM filter time prediction and data update process. Meanwhile, a novel fast moving ant estimator (F-MAE) is utilized to estimate the maneuvering vehicle trajectory. Evaluation and comparison using several numerical examples show a performance improvement over recently reported approaches. Moreover, the experimental results based on the robot operation system (ROS) platform validate the consistency with the results obtained from numerical simulations.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 28, number 3 (2018) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2018)
Last modified:
Jul 14, 2025
In our library since:
Jul 8, 2025
Number of object content hits:
11
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/100849
Show description in RDF format:
Show description in OAI-PMH format:
-
-
-
-
-
-
-
-
-
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 1 (2018)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 2 (2018)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 3 (2018)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 28, number 4 (2018)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
| Edition name | Date |
|---|---|
| An ant-based filtering random-finite-set approach to simultaneous localization and mapping | Jul 14, 2025 |
