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DTSTART:20240310T030000
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DTSTAMP:20231114T180503Z
UID:6700BDBE-ED9B-405E-B39A-CE0159C15FBA
DTSTART;TZID=America/New_York:20231114T120000
DTEND;TZID=America/New_York:20231114T130000
DESCRIPTION:Systematic resampling is the most popularly used resampling met
 hod in particle filters. This paper seeks to further the understanding of 
 systematic resampling by defining a formula made up of variables from the 
 sampling equation and the particle weights. The formula is then verified v
 ia SPARK\, a software verification language. The verified systematic resam
 pling formula states that the minimum/maximum number of possible samples t
 aken of a particle is equal to the floor/ceiling value of particle weight 
 divided by the sampling interval\, respectively. This allows for a creatio
 n of a randomness spectrum that each resampling method can fall within. Me
 thods on the lower end e.g. systematic resampling have less randomness\, t
 hus\, are quicker to reach an estimate. Although\, lower randomness allows
  for error by having a larger bias towards the size of the weight\; having
  this bias creates vulnerabilities to the noise in the environment e.g. ja
 mming. Conclusively\, this is the first step in characterizing each resamp
 ling method. This will allow target-tracking engineers to pick the best re
 sampling method for their environment instead of choosing the most popular
 ly used one.\n\nSpeaker(s): Lt Terry\, \n\nVirtual: https://events.vtools.
 ieee.org/m/382838
LOCATION:Virtual: https://events.vtools.ieee.org/m/382838
ORGANIZER:holly.zelnio@us.af.mil
SEQUENCE:24
SUMMARY:Software Verification of Systematic Resampling for Optimization of 
 Particle Filters
URL;VALUE=URI:https://events.vtools.ieee.org/m/382838
X-ALT-DESC:Description: <br /><p>Systematic resampling is the most popularl
 y used resampling method in particle filters. This paper seeks to further 
 the understanding of systematic resampling by defining a formula made up o
 f variables from the sampling equation and the particle weights. The formu
 la is then verified via SPARK\, a software verification language. The veri
 fied systematic resampling formula states that the minimum/maximum number 
 of possible samples taken of a particle is equal to the floor/ceiling valu
 e of particle weight divided by the sampling interval\, respectively. This
  allows for a creation of a randomness spectrum that each resampling metho
 d can fall within. Methods on the lower end e.g. systematic resampling hav
 e less randomness\, thus\, are quicker to reach an estimate. Although\, lo
 wer randomness allows for error by having a larger bias towards the size o
 f the weight\; having this bias creates vulnerabilities to the noise in th
 e environment e.g. jamming. Conclusively\, this is the first step in chara
 cterizing each resampling method. This will allow target-tracking engineer
 s to pick the best resampling method for their environment instead of choo
 sing the most popularly used one.</p>
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