In Proceedings of the Sixteenth National Conference on Artificial Intelligence (AAAI-99),

Consider the problem of monitoring the state of a complex dynamic system, and predicting its future evolution. Exact algorithms for this task typically maintain a belief state, or distribution over the states at some point in time. Unfortunately, these algorithms fail when applied to complex processes such as those represented as dynamic Bayesian networks (DBNs), as the representation of the belief state grows exponentially with the size of the process. In (Boyen & Koller 1998), we recently proposed an efficient approximate tracking algorithm that maintains an approximate belief state that has a compact representation as a set of independent factors. Its performance depends on the error introduced by approximating a belief state of this process by a factored one