• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.2 no.2
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• pp.81-95
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• 1998

The superconvergence of the Sloan iterate obtained from a Galerkin method for the approximate solution of the singular integral equation based on the use of two sets of orthogonal polynomials is investigated. The discrete Sloan iterate using Gaussian quadrature to evaluate the integrals in the equation becomes the Nystr$\ddot{o}$m approximation obtained by the same rules. Consequently, it is impossible to expect the faster convergence of the Sloan iterate than the discrete Galerkin approximation in practice.

• Journal of the Korean Data and Information Science Society
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• v.21 no.3
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• pp.561-567
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• 2010

Multiclassification is typically performed using voting scheme methods based on combining a set of binary classifications. In this paper we use multiclassification method with a hat matrix of least squares support vector machine (LS-SVM), which can be regarded as the revised one-against-all method. To tackle multiclass problems for large data, we use the $Nystr\ddot{o}m$ approximation and the quadratic Renyi entropy with estimation in the primal space such as used in xed size LS-SVM. For the selection of hyperparameters, generalized cross validation techniques are employed. Experimental results are then presented to indicate the performance of the proposed procedure.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.117-122
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• 2008

This paper presents a multi-robot localization based on multidimensional scaling (MDS) in spite of the existence of incomplete and noisy data. While the traditional algorithms for MDS work on the full-rank distance matrix, there might be many missing data in the real world due to occlusions. Moreover, it has no considerations to dealing with the uncertainty due to noisy observations. We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr$\ddot{o}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2007.11a
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• pp.357-361
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• 2007

This paper presents a multi-robot localization based on Bayesian Multidimensional Scaling (BMDS). We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr${\ddot{o}}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).