Solving the SLAM problem is one way to enable a robot to explore, map, and navigate in a previously unknown environment. We investigate smoothing approaches as a viable alternative to extended Kalman filter-based solutions to the problem. In particular, we look at approaches that factorize either the associated information matrix or the measurement Jacobian into square root form. Such technique...

We analyze edge currents and edge bands at the surface of a time-reversal symmetry breaking dx2-y2 + id(xy) superconductor. We show that the currents have large Friedel oscillations with two interfering frequencies: square root of 2kF from subgap states, and 2kF from the continuum. The results are based independently on a self-consistent slave-boson mean-field theory for the t-J model on a tria...

This paper presents an undelayed solution to the bearing-only simultaneous localization and mapping problem (SLAM). We employ a square-root iterated Kalman filter for nonlinear state estimation. The proposed technique incorporates a modified Kalman update that is equivalent to a variable-step iterative Gauss-Newton method, and is numerically stable because it maintains a square-root decompositi...

Unitary random matrix ensembles Z n,N (detM) α exp(−N TrV (M)) dM defined on positive definite matrices M , where α > −1 and V is real analytic, have a hard edge at 0. The equilibrium measure associated with V typically vanishes like a square root at soft edges of the spectrum. For the case that the equilibrium measure vanishes like a square root at 0, we determine the scaling limits of the eig...

Robust nonlinear integrated navigation of GPS and low cost MEMS is a hot topic of research these days. A robust filter is required to cope up with the problem of unpredictable discontinuities and colored noises associated with low cost sensors. H∞ filter is previously used in Extended Kalman filter and Unscented Kalman filter frame. Unscented Kalman filter has a problem of Cholesky matrix facto...