The Simultaneous Localization and Mapping (SLAM) problem, which emerged in the last quarter of the century, has been adapted for territorial, naval and aerial platforms starting from the year of 2000's and some parametric filter approaches such as Kalman Filter based Extended Kalman Filter and Distributed Kalman Filter, the stateestimation methods including nonparametric methods such as Particle Filter, some high level control aspiring, model or graphics-based and particularly image processing techniques has been used along with it. A strong need for performance analysis of the SLAM problem by classification can be mentioned, as it vary considerably in the platform, vehicle, sensor, and media type such as territorial, naval and aerial platforms. The particle flow filter, which put forward in 2009 for the first time, was particularly attractive due to its advantages such as high accuracy and fast convergence. In this research, a Particle Flow Filter based SLAM structure is given including mathematical bases/background of the filter, analysis, an autonomous ground vehicle and a sensor model, for the first time in the literature. According to the simulation results provided with the performance analysis of estimation under uncertainty tools/algorithms, although it has some computational complexity that may cause real time application concerns, the particle flow filter based SLAM performance is superior than other recursive state estimation approaches emerged before in the literature in terms of accuracy. Especially in the measurement environments with less uncertain sensors, it is preferable because it removes the problem of degeneration which arises in the particle filter structure.
The navigation is a substantial issue in the field of robotics. Simultaneous Localization and Mapping (SLAM) is a principle for many autonomous navigation applications, particularly in the Global Navigation Satellite System (GNSS) denied environments. Many SLAM methods made substantial contributions to improve its accuracy, cost, and efficiency. Still, it is a considerable challenge to manage robust SLAM, and there exist several attempts to find better estimation algorithms for it. In this research, we proposed a novel Bayesian filtering based Airborne SLAM structure for the first time in the literature. We also presented the mathematical background of the algorithm, and the SLAM model of an autonomous aerial vehicle. Simulation results emphasize that the new Airborne SLAM performance with the exact flow of particles using for recursive state estimations superior to other approaches emerged before, in terms of accuracy and speed of convergence. Nevertheless, its computational complexity may cause real-time application concerns, particularly in high-dimensional state spaces. However, in Airborne SLAM, it can be preferred in the measurement environments that use low uncertainty sensors because it gives more successful results by eliminating the problem of degeneration seen in the particle filter structure.
This paper presents an ant colony optimization (ACO) method for the synthesis of impedance matching networks in Satellite Transmitters which is a demanding electronics engineering problem. The ACO method is a recent alternative for biologically inspired computing such as Genetic Algorithms (GA). In this study the ACO has been applied for the solution of impedance matching problem for the microwave transmission lines. The results are compared with that of the Continuous Parameter Genetic Algorithm (CPGA) method. The results are encouraging in terms of the quality of solution found, the average number of function evaluations and the processing time.
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