A new nonlinear real-time filter based on Free Energy

Autores
Roteta Lannes, Juan Andrés; Garcia, Andres Gabriel; Agamennoni, Osvaldo Enrique
Año de publicación
2025
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This study introduces a novel non-linear real-time filter based on the concept of Free Energy, applied to estimate the state of mobile robots in dynamic environments. Leveraging Bayesian inference principles, the proposed Free Energy Filter minimizes prediction errors between observed and estimated trajectories, incorporating the Fokker-Planck equation. Simulation results demonstrate effectiveness in improving control accuracy of unicycle robots equipped with the Bessel controller, with comparisons against traditional Kalman filtering highlighting advantages in noisy and uncertain conditions.
Materia
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
Free Energy
Fokker-Planck
Stochastic
Kalman Filter
Nonlinear filter
Mobile robots
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-nc-nd/4.0/
Repositorio
CIC Digital (CICBA)
Institución
Comisión de Investigaciones Científicas de la Provincia de Buenos Aires
OAI Identificador
oai:digital.cic.gba.gob.ar:11746/12656
Acceder
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oai_identifier_str oai:digital.cic.gba.gob.ar:11746/12656
network_acronym_str CICBA
repository_id_str 9441
network_name_str CIC Digital (CICBA)
spelling A new nonlinear real-time filter based on Free EnergyRoteta Lannes, Juan AndrésGarcia, Andres GabrielAgamennoni, Osvaldo EnriqueIngeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la InformaciónFree EnergyFokker-PlanckStochasticKalman FilterNonlinear filterMobile robotsThis study introduces a novel non-linear real-time filter based on the concept of Free Energy, applied to estimate the state of mobile robots in dynamic environments. Leveraging Bayesian inference principles, the proposed Free Energy Filter minimizes prediction errors between observed and estimated trajectories, incorporating the Fokker-Planck equation. Simulation results demonstrate effectiveness in improving control accuracy of unicycle robots equipped with the Bessel controller, with comparisons against traditional Kalman filtering highlighting advantages in noisy and uncertain conditions.2025-11-14info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfhttps://digital.cic.gba.gob.ar/handle/11746/12656enginfo:eu-repo/semantics/altIdentifier/doi/10.37394/23203.2025.20.46info:eu-repo/semantics/altIdentifier/issn/2224-2856info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-nd/4.0/reponame:CIC Digital (CICBA)instname:Comisión de Investigaciones Científicas de la Provincia de Buenos Airesinstacron:CICBA2026-03-26T11:18:49Zoai:digital.cic.gba.gob.ar:11746/12656Institucionalhttp://digital.cic.gba.gob.arOrganismo científico-tecnológicoNo correspondehttp://digital.cic.gba.gob.ar/oai/snrdmarisa.degiusti@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:94412026-03-26 11:18:49.92CIC Digital (CICBA) - Comisión de Investigaciones Científicas de la Provincia de Buenos Airesfalse
dc.title.none.fl_str_mv A new nonlinear real-time filter based on Free Energy
title A new nonlinear real-time filter based on Free Energy
spellingShingle A new nonlinear real-time filter based on Free Energy
Roteta Lannes, Juan Andrés
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
Free Energy
Fokker-Planck
Stochastic
Kalman Filter
Nonlinear filter
Mobile robots
title_short A new nonlinear real-time filter based on Free Energy
title_full A new nonlinear real-time filter based on Free Energy
title_fullStr A new nonlinear real-time filter based on Free Energy
title_full_unstemmed A new nonlinear real-time filter based on Free Energy
title_sort A new nonlinear real-time filter based on Free Energy
dc.creator.none.fl_str_mv Roteta Lannes, Juan Andrés
Garcia, Andres Gabriel
Agamennoni, Osvaldo Enrique
author Roteta Lannes, Juan Andrés
author_facet Roteta Lannes, Juan Andrés
Garcia, Andres Gabriel
Agamennoni, Osvaldo Enrique
author_role author
author2 Garcia, Andres Gabriel
Agamennoni, Osvaldo Enrique
author2_role author
author
dc.subject.none.fl_str_mv Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
Free Energy
Fokker-Planck
Stochastic
Kalman Filter
Nonlinear filter
Mobile robots
topic Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
Free Energy
Fokker-Planck
Stochastic
Kalman Filter
Nonlinear filter
Mobile robots
dc.description.none.fl_txt_mv This study introduces a novel non-linear real-time filter based on the concept of Free Energy, applied to estimate the state of mobile robots in dynamic environments. Leveraging Bayesian inference principles, the proposed Free Energy Filter minimizes prediction errors between observed and estimated trajectories, incorporating the Fokker-Planck equation. Simulation results demonstrate effectiveness in improving control accuracy of unicycle robots equipped with the Bessel controller, with comparisons against traditional Kalman filtering highlighting advantages in noisy and uncertain conditions.
description This study introduces a novel non-linear real-time filter based on the concept of Free Energy, applied to estimate the state of mobile robots in dynamic environments. Leveraging Bayesian inference principles, the proposed Free Energy Filter minimizes prediction errors between observed and estimated trajectories, incorporating the Fokker-Planck equation. Simulation results demonstrate effectiveness in improving control accuracy of unicycle robots equipped with the Bessel controller, with comparisons against traditional Kalman filtering highlighting advantages in noisy and uncertain conditions.
publishDate 2025
dc.date.none.fl_str_mv 2025-11-14
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://digital.cic.gba.gob.ar/handle/11746/12656
url https://digital.cic.gba.gob.ar/handle/11746/12656
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.37394/23203.2025.20.46
info:eu-repo/semantics/altIdentifier/issn/2224-2856
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:CIC Digital (CICBA)
instname:Comisión de Investigaciones Científicas de la Provincia de Buenos Aires
instacron:CICBA
reponame_str CIC Digital (CICBA)
collection CIC Digital (CICBA)
instname_str Comisión de Investigaciones Científicas de la Provincia de Buenos Aires
instacron_str CICBA
institution CICBA
repository.name.fl_str_mv CIC Digital (CICBA) - Comisión de Investigaciones Científicas de la Provincia de Buenos Aires
repository.mail.fl_str_mv marisa.degiusti@sedici.unlp.edu.ar
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score 13.332987

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