Speeding up Gaussian Belief Space Planning for Underwater Robots Through a Covariance Upper Bound
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2933067
Abstract: Existing belief space motion planning methods are not efficient for underwater robots that are subject to spatially varying motion and sensing uncertainties arising from the non-uniform current disturbances and landmark populations, respectively. Based on a… read more here.
Keywords: belief; gaussian belief; covariance; belief space ... See more keywords
Distributing Collaborative Multi-Robot Planning With Gaussian Belief Propagation
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DOI: 10.1109/lra.2022.3227858
Abstract: Precise coordinated planning over a forward time window enables safe and highly efficient motion when many robots must work together in tight spaces, but this would normally require centralised control of all devices which is… read more here.
Keywords: belief propagation; multi robot; robot planning; gaussian belief ... See more keywords
Multihypothesis Gaussian Belief Propagation for Radio Ranging-Based Localization and Mapping
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DOI: 10.1109/tim.2022.3180425
Abstract: This article provides a multihypothesis Gaussian belief propagation (MGBP) for radio ranging-based localization and mapping systems. To overcome the problem of lacking bearing information, MGBP is implemented via a new multihypothesis modeled message passing process,… read more here.
Keywords: localization mapping; gaussian belief; multihypothesis gaussian; belief propagation ... See more keywords
Fixed Points of Gaussian Belief Propagation and Relation to Convergence
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Signal Processing"
DOI: 10.1109/tsp.2019.2951225
Abstract: In general, Gaussian belief propagation (BP) is not guaranteed to converge in loopy graphs. But when Gaussian BP converges to a fixed point of its update equations, the exact means of the marginal distributions can… read more here.
Keywords: convergence; fixed points; condition; gaussian belief ... See more keywords