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This paper investigates the frequency distribution of candidate solutions in the search space when angle modulation is applied to particle swarm optimisation (PSO). It is shown that angle modulated particle swarm optimisers (AMPSO) have non-uniform solution frequency distributions. A new technique is introduced to ensure that the frequency distribution of candidate solutions is uniform. The new technique...
Maps used for navigation often include a database of location descriptions for place recognition (loop closing), which permits bounded-error performance. A standard pose-graph SLAM system adds a new entry for every new pose into the location database, which grows linearly and unbounded in time and thus becomes unsustainable. To address this issue, in this paper we propose a new map-reduction approach...
Autonomous agents that can communicate and make relative measurements of each other can improve their collective localization accuracies. This is referred to as cooperative localization (CL). Autonomous underwater vehicle (AUV) CL is constrained by the low throughput, high latency, and unreliability of of the acoustic channel used to communicate when submerged. Here we propose a CL algorithm specifically...
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