1 Robust Filtering and Smoothing with Gaussian Processes

摘要

Abstract—We propose a principled algorithm for robust Bayesian filtering and smoothing in nonlinear stochastic dynamic systems when both the transition function and the measurement function are described by non-parametric Gaussian process (GP) models. GPs are gaining increasing importance in signal processing, machine learning, robotics, and control for rep-resenting unknown system functions by posterior probability distributions. This modern way of “system identification ” is more robust than finding point estimates of a parametric function representation. In this article, we present a principled algorithm for robust analytic smoothing in GP dynamic systems, which are increasingly used in robotics and control. Our numerical evaluations demonstrate the robustness of the proposed approach in situations where other state-of-the-art Gaussian filters and smoothers can fail. Index Terms—Nonlinear systems, Bayesian inference, Smooth-ing, Gaussian processes, Machine learning