Author/Authors :
Saberifar, Fatemeh Zahra Department of Mathematics and Computer Science - Amirkabir University of Technology, Tehran , Mohades, A Department of Mathematics and Computer Science - Amirkabir University of Technology, Tehran , Razzazi, M Department of Computer Engineering and IT - Amirkabir University of Technology, Tehran , O'Kane, J. M Department of Computer Science and Engineering - University of South Carolina - Columbia - South Carolina, USA
Abstract :
Combinatorial lters, which are discrete representations
of estimation processes, have been the subject of increasing
interest from the robotics community in recent years.
This paper considers automatic reduction of combinatorial
lters to a given size, even if that reduction necessitates
changes to the lter's behavior. We introduce an
algorithmic problem called improper lter reduction, in
which the input is a combinatorial lter F along with
an integer k representing the target size. The output
is another combinatorial lter F0 with at most k states,
such that the difference in behavior between F and F0
is minimal. We present two methods for measuring the
distance between pairs of lters, describe dynamic
