The Interacting Multiple Models Algorithm with State-Dependent Value Assignment

The value of a state is a measure of its worth, so that, for example, waypoints have high value and regions inside of obstacles have very small value. We propose two methods of incorporating world information as state-dependent modifications to the interacting multiple models (IMM) algorithm, and th...

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Main Author:	Rastgoufard, Rastin
Format:	Others
Published:	ScholarWorks@UNO 2012
Subjects:	IMM state-dependent constraints penalty function waypoints obstacles Artificial Intelligence and Robotics Signal Processing Statistical Models
Online Access:	http://scholarworks.uno.edu/td/1477 http://scholarworks.uno.edu/cgi/viewcontent.cgi?article=2421&context=td

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spelling	ndltd-uno.edu-oai-scholarworks.uno.edu-td-24212016-10-21T17:06:21Z The Interacting Multiple Models Algorithm with State-Dependent Value Assignment Rastgoufard, Rastin The value of a state is a measure of its worth, so that, for example, waypoints have high value and regions inside of obstacles have very small value. We propose two methods of incorporating world information as state-dependent modifications to the interacting multiple models (IMM) algorithm, and then we use a game's player-controlled trajectories as ground truths to compare the normal IMM algorithm to versions with our proposed modifications. The two methods involve modifying the model probabilities in the update step and modifying the transition probability matrix in the mixing step based on the assigned values of different target states. The state-dependent value assignment modifications are shown experimentally to perform better than the normal IMM algorithm in both estimating the target's current state and predicting the target's next state. 2012-05-18T07:00:00Z text application/pdf http://scholarworks.uno.edu/td/1477 http://scholarworks.uno.edu/cgi/viewcontent.cgi?article=2421&context=td University of New Orleans Theses and Dissertations ScholarWorks@UNO IMM state-dependent constraints penalty function waypoints obstacles Artificial Intelligence and Robotics Signal Processing Statistical Models
collection	NDLTD
format	Others
sources	NDLTD
topic	IMM state-dependent constraints penalty function waypoints obstacles Artificial Intelligence and Robotics Signal Processing Statistical Models
spellingShingle	IMM state-dependent constraints penalty function waypoints obstacles Artificial Intelligence and Robotics Signal Processing Statistical Models Rastgoufard, Rastin The Interacting Multiple Models Algorithm with State-Dependent Value Assignment
description	The value of a state is a measure of its worth, so that, for example, waypoints have high value and regions inside of obstacles have very small value. We propose two methods of incorporating world information as state-dependent modifications to the interacting multiple models (IMM) algorithm, and then we use a game's player-controlled trajectories as ground truths to compare the normal IMM algorithm to versions with our proposed modifications. The two methods involve modifying the model probabilities in the update step and modifying the transition probability matrix in the mixing step based on the assigned values of different target states. The state-dependent value assignment modifications are shown experimentally to perform better than the normal IMM algorithm in both estimating the target's current state and predicting the target's next state.
author	Rastgoufard, Rastin
author_facet	Rastgoufard, Rastin
author_sort	Rastgoufard, Rastin
title	The Interacting Multiple Models Algorithm with State-Dependent Value Assignment
title_short	The Interacting Multiple Models Algorithm with State-Dependent Value Assignment
title_full	The Interacting Multiple Models Algorithm with State-Dependent Value Assignment
title_fullStr	The Interacting Multiple Models Algorithm with State-Dependent Value Assignment
title_full_unstemmed	The Interacting Multiple Models Algorithm with State-Dependent Value Assignment
title_sort	interacting multiple models algorithm with state-dependent value assignment
publisher	ScholarWorks@UNO
publishDate	2012
url	http://scholarworks.uno.edu/td/1477 http://scholarworks.uno.edu/cgi/viewcontent.cgi?article=2421&context=td
work_keys_str_mv	AT rastgoufardrastin theinteractingmultiplemodelsalgorithmwithstatedependentvalueassignment AT rastgoufardrastin interactingmultiplemodelsalgorithmwithstatedependentvalueassignment
_version_	1718388195967631360

The Interacting Multiple Models Algorithm with State-Dependent Value Assignment

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