{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T18:50:36Z","timestamp":1771699836297,"version":"3.50.1"},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2008,3,1]],"date-time":"2008-03-01T00:00:00Z","timestamp":1204329600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2008,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The state-of-the-art FastSLAM algorithm has been shown to cause a particle depletion problem while performing simultaneous localization and mapping for mobile robots. As a result, it always produces over-confident estimates of uncertainty as time progresses. This particle depletion problem is mainly due to the resampling process in FastSLAM, which tends to eliminate particles with low weights. Therefore, the number of particles to conduct loop-closure decreases, which makes the performance of FastSLAM degenerate. The resampling process has not been thoroughly analyzed even though it is the main reason for the particle depletion problem. In this paper, standard resampling algorithms (systematic residual and partial resampling), a rank-based resampling adopting genetic algorithms are analyzed using computer simulations. Several performance measures such as the effective sample size, the number of distinct particles, estimation errors, and complexity are used for the thorough analysis of the resampling algorithms. Moreover, a new compensation technique is proposed instead of resampling to resolve the particle depletion problem in FastSLAM. In estimation errors, the compensation technique outperformed other resampling algorithms though its run-time was longer than those of others. The most appropriate time to instigate compensation to reduce the run-time was also analyzed with the diminishing number of particles.<\/jats:p>","DOI":"10.1017\/s0263574707003773","type":"journal-article","created":{"date-parts":[[2007,9,10]],"date-time":"2007-09-10T05:55:26Z","timestamp":1189403726000},"page":"205-217","source":"Crossref","is-referenced-by-count":30,"title":["A new compensation technique based on analysis of resampling process in FastSLAM"],"prefix":"10.1017","volume":"26","author":[{"given":"Nosan","family":"Kwak","sequence":"first","affiliation":[]},{"given":"Gon-Woo","family":"Kim","sequence":"additional","affiliation":[]},{"given":"Beom-Hee","family":"Lee","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2008,3,1]]},"reference":[{"key":"S0263574707003773_ref26","unstructured":"26. Whitley D. , \u201cThe Genitor Algorithm and Selection Pressure: Why Rank-Based Allocation of Reproductive Trials is Best,\u201d Proceedings of the 3rd International Conference on Genetic Algorithms 1 (1989) pp. 116\u2013121."},{"key":"S0263574707003773_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/78.984773"},{"key":"S0263574707003773_ref23","unstructured":"23. Baker J. E. , \u201cAdaptive Selection Methods for Genetic Algorithms,\u201d Proceedings of the 1st International Conference on Genetic Algorithms Table of Contents (1985) pp. 101\u2013111."},{"key":"S0263574707003773_ref21","first-page":"2267","article-title":"Resampling algorithms for particle filters: A computational complexity perspective","volume":"15","author":"Boli\u0107","year":"2004","journal-title":"Eurasip J. Appl. Signal Process"},{"key":"S0263574707003773_ref20","doi-asserted-by":"publisher","DOI":"10.1080\/00949659708811843"},{"key":"S0263574707003773_ref18","doi-asserted-by":"publisher","DOI":"10.1049\/ip-f-2.1993.0015"},{"key":"S0263574707003773_ref17","doi-asserted-by":"crossref","unstructured":"17. Liu J. S. , Chen R. and Logvinenko T. , \u201cA Theoretical Framework for Sequential Importance Sampling and Resampling,\u201d In: Sequential Monte Carlo Methods in Practice (2001) pp. 225\u2013246.","DOI":"10.1007\/978-1-4757-3437-9_11"},{"key":"S0263574707003773_ref28","doi-asserted-by":"crossref","unstructured":"28. Stachniss C. , Grisetti G. and Burgard W. , \u201cRecovering Particle Diversity in a Rao\u2013Blackwellized Particle Filter for Slam after Actively Closing Loops,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2005). pp. 655\u2013660.","DOI":"10.1109\/ROBOT.2005.1570192"},{"key":"S0263574707003773_ref16","unstructured":"16. van der Merwe R. , de Freitas N. , Doucet A. and Wan E. , \u201cThe unscented particle filter, Cambridge University Engineering Department, 2000,\u201d Technical Report CUED\/F-INFENG\/TR 380, Cambridge University, Cambridge, England (2000)."},{"key":"S0263574707003773_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.06.007"},{"key":"S0263574707003773_ref12","doi-asserted-by":"publisher","DOI":"10.1080\/01621459.1994.10476469"},{"key":"S0263574707003773_ref8","first-page":"1015","article-title":"Bayesian map learning in dynamic environments","volume":"12","author":"Murphy","year":"1999","journal-title":"Adv. Neural Inform. Process. Syst."},{"key":"S0263574707003773_ref7","unstructured":"7. Doucet A. , de Freitas N. , Murphy K. and Russell S. , \u201cRao\u2013Blackwellised Particle Filtering for Dynamic Bayesian Networks,\u201d Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence (2000) pp. 176\u2013183."},{"key":"S0263574707003773_ref6","unstructured":"6. Newman P. , Leonard J. , Tardos J. D. and Neira J. , \u201cExplore and Return: Experimental Validation of Real-Time Concurrent Mapping and Localization,\u201d IEEE International Conference on Robotics and Automation 2 (2002) pp. 1802\u20131809."},{"key":"S0263574707003773_ref4","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1017\/S0263574706003079","article-title":"Simultaneous landmark classification, localization and map building for an advanced sonar ring","volume":"25","author":"Fazli","year":"2006","journal-title":"Robotica"},{"key":"S0263574707003773_ref3","unstructured":"3. Montemerlo M. , FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem With Unknown Data Association, Ph.D. Thesis, (Carnegie Mellon University, Pittsburgh, PA, 2003)."},{"key":"S0263574707003773_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574701003411"},{"key":"S0263574707003773_ref1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574706003237"},{"key":"S0263574707003773_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1638022"},{"key":"S0263574707003773_ref29","doi-asserted-by":"publisher","DOI":"10.1887\/0750306645"},{"key":"S0263574707003773_ref22","unstructured":"22. Boli\u0107 M. , Djuric P. M. and Hong S. J. , \u201cNew Resampling Algorithms for Particle Filters,\u201d Proceedings of the 2003 IEEE International Conference on Acoustics, Speech, and Signal Processing 2 (2003). pp. 589\u2013592."},{"key":"S0263574707003773_ref15","doi-asserted-by":"publisher","DOI":"10.1117\/12.364025"},{"key":"S0263574707003773_ref9","doi-asserted-by":"crossref","unstructured":"9. Montemerlo M. and Thrun S. , \u201cSimultaneous localization and mapping with unknown data association using fastslam,\u201d Proceedings of the 2003 IEEE International Conference on Robotics and Automation 2 (2003) pp. 1985\u20131991.","DOI":"10.1109\/ROBOT.2003.1241885"},{"key":"S0263574707003773_ref13","unstructured":"13. Montemerlo M. , Thrun S. , Koller D. and Wegbreit B. , \u201cFastSlam 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges,\u201d Proceedings of the 17th International Joint Conference on Artificial Intelligence (2003). pp. 1151\u20131156."},{"key":"S0263574707003773_ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799002210"},{"key":"S0263574707003773_ref27","doi-asserted-by":"publisher","DOI":"10.1007\/BF00162521"},{"key":"S0263574707003773_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889486"},{"key":"S0263574707003773_ref10","volume-title":"Probabilistic Robotics","author":"Thrun","year":"2005"},{"key":"S0263574707003773_ref11","doi-asserted-by":"crossref","unstructured":"11. Bailey T. , Nieto J. and Nebot E. , \u201cConsistency of the FastSlam Algorithm,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2006) pp. 424\u2013427.","DOI":"10.1109\/ROBOT.2006.1641748"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574707003773","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,4]],"date-time":"2019-04-04T15:06:01Z","timestamp":1554390361000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574707003773\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,3]]},"references-count":29,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2008,3]]}},"alternative-id":["S0263574707003773"],"URL":"https:\/\/doi.org\/10.1017\/s0263574707003773","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,3]]}}}