The task of simultaneous localization and mapping （SLAM） is to build environmental map and locate the position of mobile robot at the same time. FastSLAM 2.0 is one of powerful techniques to solve the SLAM problem. ...The task of simultaneous localization and mapping （SLAM） is to build environmental map and locate the position of mobile robot at the same time. FastSLAM 2.0 is one of powerful techniques to solve the SLAM problem. However, there are two obvious limitations in FastSLAM 2.0, one is the linear approximations of nonlinear functions which would cause the filter inconsistent and the other is the ＂particle depletion＂ phenomenon. A kind of PSO ＆ Hjj-based FastSLAM 2.0 algorithm is proposed. For maintaining the estimation accuracy, H~ filter is used instead of EKF for overcoming the inaccuracy caused by the linear approximations of nonlinear functions. The unreasonable proposal distribution of particle greatly influences the pose state estimation of robot. A new sampling strategy based on PSO （particle swarm optimization） is presented to solve the ＂particle depletion＂ phenomenon and improve the accuracy of pose state estimation. The proposed approach overcomes the obvious drawbacks of standard FastSLAM 2.0 algorithm and enhances the robustness and efficiency in the parts of consistency of filter and accuracy of state estimation in SLAM. Simulation results demonstrate the superiority of the proposed approach.展开更多
This paper proposes a novel intelligent estimation algorithm in Wireless Sensor Network nodes location based on Free Search,which converts parameter estimation to on-line optimization of nonlinear function and estimat...This paper proposes a novel intelligent estimation algorithm in Wireless Sensor Network nodes location based on Free Search,which converts parameter estimation to on-line optimization of nonlinear function and estimates the coordinates of senor nodes using the Free Search optimization.Compared to the least-squares estimation algorithms,the localization accuracy has been increased significantly,which has been verified by the simulation results.展开更多
This paper studies estimation in partial functional linear quantile regression in which the dependent variable is related to both a vector of finite length and a function-valued random variable as predictor variables....This paper studies estimation in partial functional linear quantile regression in which the dependent variable is related to both a vector of finite length and a function-valued random variable as predictor variables. The slope function is estimated by the functional principal component basis. The asymptotic distribution of the estimator of the vector of slope parameters is derived and the global convergence rate of the quantile estimator of unknown slope function is established under suitable norm. It is showed that this rate is optirnal in a minimax sense under some smoothness assumptions on the covariance kernel of the covariate and the slope function. The convergence rate of the mean squared prediction error for the proposed estimators is also established. Finite sample properties of our procedures are studied through Monte Carlo simulations. A real data example about Berkeley growth data is used to illustrate our proposed methodology.展开更多
Donoho et al. in 1996 have made almost perfect achievements in wavelet estimation for a density function f in Besov spaces Bsr,q(R). Motivated by their work, we define new linear and nonlinear wavelet estimators flin,...Donoho et al. in 1996 have made almost perfect achievements in wavelet estimation for a density function f in Besov spaces Bsr,q(R). Motivated by their work, we define new linear and nonlinear wavelet estimators flin,nm, fnonn,m for density derivatives f(m). It turns out that the linear estimation E(‖flinn,m-f(m)‖p) for f(m) ∈ Bsr,q(R) attains the optimal when r≥ p, and the nonlinear one E(‖fnonn,m-f(m)‖p) does the same if r≤p/2(s+m)+1 . In addition, our method is applied to Sobolev spaces with non-negative integer exponents as well.展开更多
This paper investigates the finite element approximation of a class of parameter estimation problems which is the form of performance as the optimal control problems governed by bilinear parabolic equations,where the ...This paper investigates the finite element approximation of a class of parameter estimation problems which is the form of performance as the optimal control problems governed by bilinear parabolic equations,where the state and co-state are discretized by piecewise linear functions and control is approximated by piecewise constant functions.The authors derive some a priori error estimates for both the control and state approximations.Finally,the numerical experiments verify the theoretical results.展开更多
Consider a semiparametric regression model with linear time series errors Y_k= x′ _kβ + g(t_k) + ε_k, 1 ≤ k ≤ n, where Y_k's are responses, x_k =(x_(k1),x_(k2),···,x_(kp))′ and t_k ∈ T is con...Consider a semiparametric regression model with linear time series errors Y_k= x′ _kβ + g(t_k) + ε_k, 1 ≤ k ≤ n, where Y_k's are responses, x_k =(x_(k1),x_(k2),···,x_(kp))′ and t_k ∈ T is contained in R are fixed design points, β =(β_1,β_2,···,β_p)′ is an unknown parameter vector, g(·) is an unknown bounded real-valuedfunction defined on a compact subset T of the real line R, and ε_k is a linear process given byε_k = ∑ from j=0 to ∞ of ψ_je_(k-j), ψ_0=1, where ∑ from j=0 to ∞ of |ψ_j| < ∞, and e_j,j=0, +-1, +-2,···, ard i.i.d. random variables. In this paper we establish the asymptoticnormality of the least squares estimator of β, a smooth estimator of g(·), and estimators of theautocovariance and autocorrelation functions of the linear process ε_k.展开更多
This paper considers the local linear estimation of a multivariate regression function and its derivatives for a stationary long memory(long range dependent) nonparametric spatio-temporal regression model.Under some m...This paper considers the local linear estimation of a multivariate regression function and its derivatives for a stationary long memory(long range dependent) nonparametric spatio-temporal regression model.Under some mild regularity assumptions, the pointwise strong convergence, the uniform weak consistency with convergence rates and the joint asymptotic distribution of the estimators are established. A simulation study is carried out to illustrate the performance of the proposed estimators.展开更多
基金Project(ZR2011FM005)supported by the Natural Science Foundation of Shandong Province,China
文摘The task of simultaneous localization and mapping （SLAM） is to build environmental map and locate the position of mobile robot at the same time. FastSLAM 2.0 is one of powerful techniques to solve the SLAM problem. However, there are two obvious limitations in FastSLAM 2.0, one is the linear approximations of nonlinear functions which would cause the filter inconsistent and the other is the ＂particle depletion＂ phenomenon. A kind of PSO ＆ Hjj-based FastSLAM 2.0 algorithm is proposed. For maintaining the estimation accuracy, H~ filter is used instead of EKF for overcoming the inaccuracy caused by the linear approximations of nonlinear functions. The unreasonable proposal distribution of particle greatly influences the pose state estimation of robot. A new sampling strategy based on PSO （particle swarm optimization） is presented to solve the ＂particle depletion＂ phenomenon and improve the accuracy of pose state estimation. The proposed approach overcomes the obvious drawbacks of standard FastSLAM 2.0 algorithm and enhances the robustness and efficiency in the parts of consistency of filter and accuracy of state estimation in SLAM. Simulation results demonstrate the superiority of the proposed approach.
基金National Research Foundation for the Doctoral Program of Higher Education of China(No.20060266006)the High-school Natural Science Research Foundation of Jiangsu Province(No.07KJB510095)
文摘This paper proposes a novel intelligent estimation algorithm in Wireless Sensor Network nodes location based on Free Search,which converts parameter estimation to on-line optimization of nonlinear function and estimates the coordinates of senor nodes using the Free Search optimization.Compared to the least-squares estimation algorithms,the localization accuracy has been increased significantly,which has been verified by the simulation results.
基金supported by National Natural Science Foundation of China(Grant No.11071120)
文摘This paper studies estimation in partial functional linear quantile regression in which the dependent variable is related to both a vector of finite length and a function-valued random variable as predictor variables. The slope function is estimated by the functional principal component basis. The asymptotic distribution of the estimator of the vector of slope parameters is derived and the global convergence rate of the quantile estimator of unknown slope function is established under suitable norm. It is showed that this rate is optirnal in a minimax sense under some smoothness assumptions on the covariance kernel of the covariate and the slope function. The convergence rate of the mean squared prediction error for the proposed estimators is also established. Finite sample properties of our procedures are studied through Monte Carlo simulations. A real data example about Berkeley growth data is used to illustrate our proposed methodology.
基金supported by National Natural Science Foundation of China (Grant No.11271038)Natural Science Foundation of Beijing (Grant No. 1082003)
文摘Donoho et al. in 1996 have made almost perfect achievements in wavelet estimation for a density function f in Besov spaces Bsr,q(R). Motivated by their work, we define new linear and nonlinear wavelet estimators flin,nm, fnonn,m for density derivatives f(m). It turns out that the linear estimation E(‖flinn,m-f(m)‖p) for f(m) ∈ Bsr,q(R) attains the optimal when r≥ p, and the nonlinear one E(‖fnonn,m-f(m)‖p) does the same if r≤p/2(s+m)+1 . In addition, our method is applied to Sobolev spaces with non-negative integer exponents as well.
基金supported by the National Natural Science Foundation of China under Grant Nos.11101025,11071080,11171113the National Natural Science Foundation of China under Grant No.11126279+1 种基金the Fundamental Research Funds for the Central Universitiesthe Youth Foundation of Tianyuan Mathematics
文摘This paper investigates the finite element approximation of a class of parameter estimation problems which is the form of performance as the optimal control problems governed by bilinear parabolic equations,where the state and co-state are discretized by piecewise linear functions and control is approximated by piecewise constant functions.The authors derive some a priori error estimates for both the control and state approximations.Finally,the numerical experiments verify the theoretical results.
基金CHEN Min's work is supported by Grant No. 70221001 and No. 70331001 from NNSFC and Grant No. KZCX2-SW-118 from CAS.
文摘Consider a semiparametric regression model with linear time series errors Y_k= x′ _kβ + g(t_k) + ε_k, 1 ≤ k ≤ n, where Y_k's are responses, x_k =(x_(k1),x_(k2),···,x_(kp))′ and t_k ∈ T is contained in R are fixed design points, β =(β_1,β_2,···,β_p)′ is an unknown parameter vector, g(·) is an unknown bounded real-valuedfunction defined on a compact subset T of the real line R, and ε_k is a linear process given byε_k = ∑ from j=0 to ∞ of ψ_je_(k-j), ψ_0=1, where ∑ from j=0 to ∞ of |ψ_j| < ∞, and e_j,j=0, +-1, +-2,···, ard i.i.d. random variables. In this paper we establish the asymptoticnormality of the least squares estimator of β, a smooth estimator of g(·), and estimators of theautocovariance and autocorrelation functions of the linear process ε_k.
基金supported by National Natural Science Foundation of China(Grant No.11171147)Qing Lan Project,Jiangsu Province,and the Cultivation Fund of the Key Scientific and Technical Innovation Project,Ministry of Education of China(Grant No.708044)
文摘This paper considers the local linear estimation of a multivariate regression function and its derivatives for a stationary long memory(long range dependent) nonparametric spatio-temporal regression model.Under some mild regularity assumptions, the pointwise strong convergence, the uniform weak consistency with convergence rates and the joint asymptotic distribution of the estimators are established. A simulation study is carried out to illustrate the performance of the proposed estimators.
