7,646 research outputs found

    GP-SUM. Gaussian Processes Filtering of non-Gaussian Beliefs

    Full text link
    This work studies the problem of stochastic dynamic filtering and state propagation with complex beliefs. The main contribution is GP-SUM, a filtering algorithm tailored to dynamic systems and observation models expressed as Gaussian Processes (GP), and to states represented as a weighted sum of Gaussians. The key attribute of GP-SUM is that it does not rely on linearizations of the dynamic or observation models, or on unimodal Gaussian approximations of the belief, hence enables tracking complex state distributions. The algorithm can be seen as a combination of a sampling-based filter with a probabilistic Bayes filter. On the one hand, GP-SUM operates by sampling the state distribution and propagating each sample through the dynamic system and observation models. On the other hand, it achieves effective sampling and accurate probabilistic propagation by relying on the GP form of the system, and the sum-of-Gaussian form of the belief. We show that GP-SUM outperforms several GP-Bayes and Particle Filters on a standard benchmark. We also demonstrate its use in a pushing task, predicting with experimental accuracy the naturally occurring non-Gaussian distributions.Comment: WAFR 2018, 16 pages, 7 figure

    Predicting Skin Permeability by means of Computational Approaches : Reliability and Caveats in Pharmaceutical Studies

    Get PDF
    © 2019 American Chemical Society.The skin is the main barrier between the internal body environment and the external one. The characteristics of this barrier and its properties are able to modify and affect drug delivery and chemical toxicity parameters. Therefore, it is not surprising that permeability of many different compounds has been measured through several in vitro and in vivo techniques. Moreover, many different in silico approaches have been used to identify the correlation between the structure of the permeants and their permeability, to reproduce the skin behavior, and to predict the ability of specific chemicals to permeate this barrier. A significant number of issues, like interlaboratory variability, experimental conditions, data set building rationales, and skin site of origin and hydration, still prevent us from obtaining a definitive predictive skin permeability model. This review wants to show the main advances and the principal approaches in computational methods used to predict this property, to enlighten the main issues that have arisen, and to address the challenges to develop in future research.Peer reviewedFinal Accepted Versio

    Random Finite Set Theory and Optimal Control of Large Collaborative Swarms

    Full text link
    Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's configuration. This work generalizes the swarm state using Random Finite Set (RFS) theory and solves the control problem using Model Predictive Control (MPC) to overcome the aforementioned challenges. Computationally efficient solutions are obtained via the Iterative Linear Quadratic Regulator (ILQR). Information divergence is used to define the distance between the swarm RFS and the desired swarm configuration. Then, a stochastic optimal control problem is formulated using a modified L2^2 distance. Simulation results using MPC and ILQR show that swarm intensities converge to a target destination, and the RFS control formulation can vary in the number of target destinations. ILQR also provides a more computationally efficient solution to the RFS swarm problem when compared to the MPC solution. Lastly, the RFS control solution is applied to a spacecraft relative motion problem showing the viability for this real-world scenario.Comment: arXiv admin note: text overlap with arXiv:1801.0731

    Bayesian Inference on Dynamic Models with Latent Factors

    Get PDF
    In time series analysis, latent factors are often introduced to model the heterogeneous time evolution of the observed processes. The presence of unobserved components makes the maximum likelihood estimation method more difficult to apply. A Bayesian approach can sometimes be preferable since it permits to treat general state space models and makes easier the simulation based approach to parameters estimation and latent factors filtering. The paper examines economic time series models in a Bayesian perspective focusing, through some examples, on the extraction of the business cycle components. We briefly review some general univariate Bayesian dynamic models and discuss the simulation based techniques, such as Gibbs sampling, adaptive importance sampling and finally suggest the use of the particle filter, for parameter estimation and latent factor extraction.Bayesian Dynamic Models, Simulation Based Inference, Particle Filters, Latent Factors, Business Cycle
    corecore