@inproceedings{331ed5a520064b26ae4b1965f9e7fac8,
title = "Distributed Adaptive Sub-Filter for Range-Only SLAM",
abstract = "The primary challenge in 3D range-only SLAM is achieving rapid and accurate state estimation in high-dimensional environments. This paper introduces a distributed adaptive sub-filter framework, in which independent sub-filters are designed for each beacon. Within each sub-filter, a hybrid Unscented Kalman Filter (UKF) and particle filter(PF) approach is used for local state estimation. The global filter output is then derived by fusing the estimation results from all individual sub-filters. Simulation experiments show that, under identical experimental conditions, the proposed method outperforms the distributed UKF and distributed UIKF in terms of estimation accuracy.",
keywords = "Distributed Sub-filter, Particle Filter, Range-only, Simultaneous Localization and Mapping (SLAM), Unscented Kalman Filter",
author = "Yishan Ma and Chengpu Yu and Xian Qiao",
note = "Publisher Copyright: {\textcopyright} 2025 Technical Committee on Control Theory, Chinese Association of Automation.; 44th Chinese Control Conference, CCC 2025 ; Conference date: 28-07-2025 Through 30-07-2025",
year = "2025",
doi = "10.23919/CCC64809.2025.11178933",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5083--5088",
editor = "Jian Sun and Hongpeng Yin",
booktitle = "Proceedings of the 44th Chinese Control Conference, CCC 2025",
address = "United States",
}