{"title":"Sequential Monte Carlo: A Unified Review","authors":"A. Wills, Thomas Bo Schön","doi":"10.1146/annurev-control-042920-015119","DOIUrl":null,"url":null,"abstract":"Sequential Monte Carlo methods—also known as particle filters—offer approximate solutions to filtering problems for nonlinear state-space systems. These filtering problems are notoriously difficult to solve in general due to a lack of closed-form expressions and challenging expectation integrals. The essential idea behind particle filters is to employ Monte Carlo integration techniques in order to ameliorate both of these challenges. This article presents an intuitive introduction to the main particle filter ideas and then unifies three commonly employed particle filtering algorithms. This unified approach relies on a nonstandard presentation of the particle filter, which has the advantage of highlighting precisely where the differences between these algorithms stem from. Some relevant extensions and successful application domains of the particle filter are also presented. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":29961,"journal":{"name":"Annual Review of Control Robotics and Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":11.2000,"publicationDate":"2023-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Annual Review of Control Robotics and Autonomous Systems","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1146/annurev-control-042920-015119","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 3
Abstract
Sequential Monte Carlo methods—also known as particle filters—offer approximate solutions to filtering problems for nonlinear state-space systems. These filtering problems are notoriously difficult to solve in general due to a lack of closed-form expressions and challenging expectation integrals. The essential idea behind particle filters is to employ Monte Carlo integration techniques in order to ameliorate both of these challenges. This article presents an intuitive introduction to the main particle filter ideas and then unifies three commonly employed particle filtering algorithms. This unified approach relies on a nonstandard presentation of the particle filter, which has the advantage of highlighting precisely where the differences between these algorithms stem from. Some relevant extensions and successful application domains of the particle filter are also presented. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.
期刊介绍:
The Annual Review of Control, Robotics, and Autonomous Systems offers comprehensive reviews on theoretical and applied developments influencing autonomous and semiautonomous systems engineering. Major areas covered include control, robotics, mechanics, optimization, communication, information theory, machine learning, computing, and signal processing. The journal extends its reach beyond engineering to intersect with fields like biology, neuroscience, and human behavioral sciences. The current volume has transitioned to open access through the Subscribe to Open program, with all articles published under a CC BY license.