A model for reasoning about persistence and causation
Computational Intelligence
Automated modelling of physical systems
Automated modelling of physical systems
Boosting combinatorial search through randomization
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Reinforcement Learning
Mode Estimation of Probabilistic Hybrid Systems
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks
UAI '00 Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence
Inference in Hybrid Networks: Theoretical Limits and Practical Algorithms
UAI '01 Proceedings of the 17th Conference in Uncertainty in Artificial Intelligence
Bayesian Fault Detection and Diagnosis in Dynamic Systems
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Experiences with a mobile robotic guide for the elderly
Eighteenth national conference on Artificial intelligence
Numerical computation of rectangular bivariate and trivariate normal and t probabilities
Statistics and Computing
Diagnosis as approximate belief state enumeration for probabilistic concurrent constraint automata
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 1
Variable resolution particle filter
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Mode estimation of model-based programs: monitoring systems with complex behavior
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
A model-based approach to reactive self-configuring systems
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Fast context switching in real-time propositional reasoning
AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence
Factored particles for scalable monitoring
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
Particle filters for state estimation of jump Markov linear systems
IEEE Transactions on Signal Processing
Hybrid estimation of complex systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Brief paper: Random sampling approach to state estimation in switching environments
Automatica (Journal of IFAC)
Brief paper: Detection and estimation for abruptly changing systems
Automatica (Journal of IFAC)
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Probabilistic hybrid discrete/continuous models, such as Concurrent Probabilistic Hybrid Automata (CPHA) are convenient tools for modeling complex robotic systems. In this paper, we present a novel method for estimating the hybrid state of CPHA that achieves robustness by balancing greedy and stochastic search. To accomplish this, we (1) develop an efficient stochastic sampling approach for CPHA based on Rao-Blackwellised Particle Filtering, (2) perform an empirical comparison of the greedy and stochastic approaches to hybrid estimation and (3) propose a strategy for mixing stochastic and greedy search. The resulting method handles nonlinear dynamics, concurrently operating components and autonomous mode transitions. We demonstrate the robustness of the mixed method empirically.