Computer Engineering Commons^™

Efficient Mapping Through Exploitation Of Spatial Dependencies, Yaron Rachlin, John M. Dolan, Pradeep K. Khosla

Pradeep K Khosla

Occupancy grid mapping algorithms assume that grid block values are independently distributed. However, most environments of interest contain spatial patterns that are better characterized by models that capture dependencies among grid blocks. To account for such dependencies, we model the environment as a pairwise Markov random field. We specify a belief propagation-based mapping algorithm that takes these dependencies into account when estimating a map. To demonstrate the potential benefits of this approach, we simulate a simple multirobot minefield mapping scenario. Minefields contain spatial dependencies since some landmine configurations are more likely than others, and since clutter, which causes false alarms, …

Optimizing Parallel Belief Propagation In Junction Trees Using Regression, Lu Zheng, Ole J. Mengshoel

Ole J Mengshoel

Exploring Multiple Dimensions Of Parallelism In Junction Tree Message Passing, Lu Zheng, Ole J. Mengshoel

Ole J Mengshoel