Implicit sampling for path integral control, Monte Carlo localization, and SLAM

arXiv1309.3615MaRDI QIDQ6244792FDOQ6244792

Publication date: 13 September 2013

Abstract: The applicability and usefulness of implicit sampling in stochastic optimal control, stochastic localization, and simultaneous localization and mapping (SLAM), is explored; implicit sampling is a recently-developed variationally-enhanced sampling method. The theory is illustrated with examples, and it is found that implicit sampling is significantly more efficient than current Monte Carlo methods in test problems for all three applications.

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