{"id":"https://openalex.org/W2094412840","doi":"https://doi.org/10.1109/cdc.2012.6426014","title":"Sampling-based algorithm for filtering using Markov chain approximations","display_name":"Sampling-based algorithm for filtering using Markov chain approximations","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2094412840","doi":"https://doi.org/10.1109/cdc.2012.6426014","mag":"2094412840"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2012.6426014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6426014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/81471","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006038667","display_name":"Pratik Chaudhari","orcid":"https://orcid.org/0000-0003-4590-1956"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pratik Chaudhari","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sertac Karaman","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029069358","display_name":"Emilio Frazzoli","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emilio Frazzoli","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006038667"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":1.783,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.87099705,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"18","issue":null,"first_page":"5972","last_page":"5978"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9847999811172485,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.802699089050293},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.6262183785438538},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.6140762567520142},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5484125018119812},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.5100978016853333},{"id":"https://openalex.org/keywords/continuous-time-markov-chain","display_name":"Continuous-time Markov chain","score":0.5065892934799194},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.49823856353759766},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4880284368991852},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4831916391849518},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.4785771369934082},{"id":"https://openalex.org/keywords/variable-order-markov-model","display_name":"Variable-order Markov model","score":0.4732159674167633},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.455039918422699},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.4485699236392975},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4451881945133209},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06478926539421082}],"concepts":[{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.802699089050293},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.6262183785438538},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.6140762567520142},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5484125018119812},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.5100978016853333},{"id":"https://openalex.org/C147080032","wikidata":"https://www.wikidata.org/wiki/Q176720","display_name":"Continuous-time Markov chain","level":5,"score":0.5065892934799194},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.49823856353759766},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4880284368991852},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4831916391849518},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.4785771369934082},{"id":"https://openalex.org/C54907487","wikidata":"https://www.wikidata.org/wiki/Q7915688","display_name":"Variable-order Markov model","level":4,"score":0.4732159674167633},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.455039918422699},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.4485699236392975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4451881945133209},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06478926539421082},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2012.6426014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6426014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/81471","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/81471","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/81471","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/81471","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320333591","display_name":"Multidisciplinary University Research Initiative","ror":null},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1483307070","https://openalex.org/W1491528139","https://openalex.org/W1964377184","https://openalex.org/W1971086298","https://openalex.org/W1973876344","https://openalex.org/W2000359213","https://openalex.org/W2017277760","https://openalex.org/W2017646611","https://openalex.org/W2022228946","https://openalex.org/W2049561732","https://openalex.org/W2067581998","https://openalex.org/W2098613108","https://openalex.org/W2101600490","https://openalex.org/W2105964352","https://openalex.org/W2128990851","https://openalex.org/W2130363011","https://openalex.org/W2131598171","https://openalex.org/W2170316986","https://openalex.org/W2539456164","https://openalex.org/W3140434919","https://openalex.org/W4238187298","https://openalex.org/W4240788980","https://openalex.org/W4244486013","https://openalex.org/W4292366002","https://openalex.org/W6654759419","https://openalex.org/W6675282069"],"related_works":["https://openalex.org/W3126873283","https://openalex.org/W2393621008","https://openalex.org/W2540690809","https://openalex.org/W2129435535","https://openalex.org/W2353273130","https://openalex.org/W3022014775","https://openalex.org/W2100055350","https://openalex.org/W2987631717","https://openalex.org/W3166133680","https://openalex.org/W1974839821"],"abstract_inverted_index":{"In":[0],"this":[1,44],"paper,":[2],"the":[3,30,33,55,70,73,81,84,89,99],"filtering":[4,56],"problem":[5],"for":[6],"a":[7,47,110],"large":[8],"class":[9],"of":[10,49,72,83,112],"continuous-time,":[11],"continuous-state":[12],"stochastic":[13,86],"dynamical":[14],"systems":[15],"is":[16,39,67],"considered.":[17],"Inspired":[18],"by":[19],"recent":[20],"advances":[21],"in":[22,58,78,109],"asymptotically-optimal":[23],"sampling-based":[24,37],"motion":[25],"planning":[26],"algorithms,":[27],"such":[28],"as":[29],"PRM*":[31],"and":[32,53],"RRT*,":[34],"an":[35,59],"incremental":[36,42,60],"algorithm":[38],"proposed.":[40],"Using":[41],"sampling,":[43],"approach":[45],"constructs":[46],"sequence":[48],"Markov":[50,74,95],"chain":[51,75],"approximations,":[52],"solves":[54],"problem,":[57],"manner,":[61],"on":[62,93],"these":[63,94],"discrete":[64],"approximations.":[65],"It":[66],"shown":[68],"that":[69],"trajectories":[71,82],"approximations":[76],"converge":[77],"distribution":[79],"to":[80,98],"original":[85],"system;":[87],"moreover,":[88],"optimal":[90,100],"filter":[91],"calculated":[92],"chains":[96],"converges":[97],"continuous-time":[101],"nonlinear":[102],"filter.":[103],"The":[104],"convergence":[105],"results":[106],"are":[107],"verified":[108],"number":[111],"simulation":[113],"examples.":[114]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}