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		<identifier>oai:zbc.uz.zgora.pl:85856</identifier>
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<dc:title xml:lang="pl"><![CDATA[An ant-based filtering random-finite-set approach to simultaneous localization and mapping]]></dc:title>
<dc:creator><![CDATA[Li, Demeng]]></dc:creator>
<dc:creator><![CDATA[Zhu, Jihong]]></dc:creator>
<dc:creator><![CDATA[Xu, Benlian]]></dc:creator>
<dc:creator><![CDATA[Lu, Mingli]]></dc:creator>
<dc:creator><![CDATA[Li, Mingyue]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[simultaneous localization and mapping (SLAM)]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[random finite sets]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[probability hypothesis density]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[ant colony]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[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.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[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.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Korbicz, Józef (1951- ) - red.]]></dc:contributor>
<dc:contributor><![CDATA[Uciński, Dariusz - red.]]></dc:contributor>
<dc:date><![CDATA[2018]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/85856/AMCS_2018_28_3_8.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/100849/edition/85856/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:85856]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 28, number 3 (2018)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=109]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:100849]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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