A Comparison of Bayesian Prediction Techniques for Mobile Robot Trajectory Tracking
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arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866908837456379904 |
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| author | Peralta-Cabezas, Jose Luis Torres-Torriti, Miguel Guarini-Hermann, Marcelo |
| author_facet | Peralta-Cabezas, Jose Luis Torres-Torriti, Miguel Guarini-Hermann, Marcelo |
| contents | This paper presents a performance comparison of different estimation and prediction techniques applied to the problem of tracking multiple robots. The main performance criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method to non-Gaussian noise. Among the different techniques compared are the well known Kalman filters and their different variants (e.g. extended and unscented), and the more recent techniques relying on Sequential Monte Carlo Sampling methods, such as particle filters and Gaussian Mixture Sigma Point Particle Filter. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_15354 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Comparison of Bayesian Prediction Techniques for Mobile Robot Trajectory Tracking Peralta-Cabezas, Jose Luis Torres-Torriti, Miguel Guarini-Hermann, Marcelo Robotics Systems and Control This paper presents a performance comparison of different estimation and prediction techniques applied to the problem of tracking multiple robots. The main performance criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method to non-Gaussian noise. Among the different techniques compared are the well known Kalman filters and their different variants (e.g. extended and unscented), and the more recent techniques relying on Sequential Monte Carlo Sampling methods, such as particle filters and Gaussian Mixture Sigma Point Particle Filter. |
| title | A Comparison of Bayesian Prediction Techniques for Mobile Robot Trajectory Tracking |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2602.15354 |