We review some advances of the particle filtering (PF) algorithm that have been achieved in the last decade in the context of target tracking, with regard to either a single target or multiple targets in the presence of false or missing data. The first part of our review is on remarkable achievements that have been made for the single-target PF from several aspects including importance proposal, computing efficiency, particle degeneracy/impoverishment and constrained/multi-modal systems. The second part of our review is on analyzing the intractable challenges raised within the general multitarget (multi-sensor) tracking due to random target birth and termination, false alarm, misdetection, measurement-to-track (M2T) uncertainty and track uncertainty. The mainstream multitarget PF approaches consist of two main classes, one based on M2T association approaches and the other not such as the finite set statistics-based PF. In either case, significant challenges remain due to unknown tracking scenarios and integrated tracking management.

We propose a novel consensus notion, called "partial consensus", for distributed Gaussian mixture probability hypothesis density fusion based on a decentralized sensor network, in which only highly-weighted Gaussian components (GCs) are exchanged and fused across neighbor sensors. It is shown that this does not only gain high efficiency in both network communication and fusion computation, but also significantly compensates the effects of clutter and missed detections. Two "conservative" mixture reduction schemes are devised for refining the combined GCs. One is given by pairwise averaging GCs between sensors based on Hungarian assignment and the other merges close GCs for trace-minimal yet conservative covariance. The close connection of the result to the two approaches, known as covariance union and arithmetic averaging, is unveiled. Simulations based on av sensor network consisting of both linear and nonlinear sensors, have demonstrated the advantage of our approaches over the generalized covariance intersection approach

This paper studies the multi-robot cooperative localization (CL) problem, a challenging scenario in which robots may receive spurious sensor data, potentially causing inconsistent state estimates. To address this problem, this paper presents a fully decentralized CL algorithm based on covariance union (CU), referred to as DCL-CU. The proposed approach is fault-tolerant and supports generic measurement models. Extensive Monte Carlo simulations and a group of real-world experiments were conducted to verify the performance of the proposed DCL-CU approach. The results show that the DCL-CU approach can efficiently deal with spurious sensor data.

International audienceTo identify the product failure rate grade under diverse configuration and operation conditions, a new conditional Bayesian networks (CBN) model is brought forward. By indicating the conditional independence relationship between attribute variables given the target variable, this model could provide an effective approach to classify the grade of failure rate. Furthermore, on the basis of the CBN model, the procedure of building product failure rate grade classifier is elaborated with modeling and application. At last, a case study is carried out and the results show that, with comparison to other Bayesian networks classifiers and traditional decision tree C4.5, the CBN model not only increases the total classification accuracy, but also reduces the complexity of network structure

In recent years, with the development of societies and economies, the demand for social electricity has further increased. The efficiency and accuracy of electric-load forecasting is an important guarantee for the safety and reliability of power system operation. With the sparrow search algorithm (SSA), long short-term memory (LSTM), and random forest (RF), this research proposes an SSA-LSTM-RF daily peak-valley forecasting model. First, this research uses the Pearson correlation coefficient and the random forest model to select features. Second, the forecasting model takes the target value, climate characteristics, time series characteristics, and historical trend characteristics as input to the LSTM network to obtain the daily-load peak and valley values. Third, the super parameters of the LSTM network are optimized by the SSA algorithm and the global optimal solution is obtained. Finally, the forecasted peak and valley values are input into the random forest as features to obtain the output of the peak-valley time. The forest value of the SSA-LSTM-RF model is good, and the fitting ability is also good. Through experimental comparison, it can be seen that the electric-load forecasting algorithm based on the SSA-LSTM-RF model has higher forecasting accuracy and provides ideal performance for electric-load forecasting with different time steps.