Fully bayesian prediction algorithms for mobile robotic sensors under uncertain localization using gaussian markov random fields

Mahdi Jadaliha, Jinho Jeong, Yunfei Xu, Jongeun Choi, Junghoon Kim

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

In this paper, we present algorithms for predicting a spatio-temporal random field measured by mobile robotic sensors under uncertainties in localization and measurements. The spatio-temporal field of interest is modeled by a sum of a time-varying mean function and a Gaussian Markov random field (GMRF) with unknown hyperparameters. We first derive the exact Bayesian solution to the problem of computing the predictive inference of the random field, taking into account observations, uncertain hyperparameters, measurement noise, and uncertain localization in a fully Bayesian point of view. We show that the exact solution for uncertain localization is not scalable as the number of observations increases. To cope with this exponentially increasing complexity and to be usable for mobile sensor networks with limited resources, we propose a scalable approximation with a controllable trade-off between approximation error and complexity to the exact solution. The effectiveness of the proposed algorithms is demonstrated by simulation and experimental results.

Original languageEnglish
Article number2866
JournalSensors (Switzerland)
Volume18
Issue number9
DOIs
Publication statusPublished - 2018 Sep 1

Fingerprint

Bayes Theorem
Robotics
robotics
sensors
Sensors
predictions
Sensor networks
Wireless networks
noise measurement
approximation
inference
Uncertainty
Noise
resources
simulation

All Science Journal Classification (ASJC) codes

  • Analytical Chemistry
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering

Cite this

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Fully bayesian prediction algorithms for mobile robotic sensors under uncertain localization using gaussian markov random fields. / Jadaliha, Mahdi; Jeong, Jinho; Xu, Yunfei; Choi, Jongeun; Kim, Junghoon.

In: Sensors (Switzerland), Vol. 18, No. 9, 2866, 01.09.2018.

Research output: Contribution to journalArticle

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