A comparison of Bayesian prediction techniques for mobile robot trajectory tracking
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Date
2008
Journal Title
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Volume Title
Publisher
CAMBRIDGE UNIV PRESS
Abstract
This paper presents a performance comparison of different estimation and prediction techniques applied to the problem of tracking multiple robots. The main performance criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method to non-Gaussian noise. Among the different techniques compared are the well-known Kalman filters and their different variants (e.g. extended and unscented), and the more recent techniques relying on Sequential Monte Carlo Sampling methods, such as particle filters and Gaussian Mixture Sigma Point Particle Filter.
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Keywords
mobile robot tracking, latency compensation, Bayesian prediction, Kalman filtering, Monte Carlo methods, sigma-point filters