The element-based method - theory and its application to bayesian search and tracking -
Tomonari Furukawa, Hugh F Durrant-Whyte, Benjamin Lavis · 2007
This paper presents the element-based method, which can be used for recursive Bayesian estimation (RBE) in robotic operations such as search and tracking involving moving targets. The use of shape functions to define a set of irregularly shaped elements allows the target PDF to be continuously, and thus accurately, represented over the target space. A comparison with the grid-based method first shows that the element-based method requires less than 10% of the number of nodes to achieve the same accuracy. The application of the element-based method to marine search-and-rescue (SAR) scenarios then demonstrates its ability for effective SAR whilst maintaining collected information.