Optimization of Rao Blackwellized Particle Filter SLAM using Firefly algorithm

Navigation accuracy, which is an imperative performance indicator for mobile robots, is intimately associated with the grid mapping algorithm (G-mapping) accuracy. In an unstructured environment, mobile robot positioning accuracy is important to ensure safety. For this reason, in this study G-mapping Algorithm is modelled based on Rao-Blackwellized particle filter (RBPF) offering better results with a low number of sensors and features. To investigate various methods' effectiveness, a comparative analysis of three optimization methods namely Gradient descent, ANT colony, and firefly algorithm was made. The results exhibit that the firefly method performs well in terms of navigation accuracy, particle degradation, and ensuring mobile robot safety in a complex and unstructured environment.

The Changing Facets of the Us-Pakistan Relations: A Review of the Bilateral Relations Since the Collapse of Soviet Union Till 9/11 2001

Relations between the United States and Pakistan have a long history spread over nearly six decades. Though these relations have seen various phases of engagements and estrangements, this study takes into account the changing facets of the US- Pakistan relations in the wake of the collapse of Soviet Union in early 1990s till 9/11(2001). The era under focus saw the acute type of estrangement between the two states. In the changed geostrategic scenario, the US strategic priorities had changed. Pakistan lost her strategic worth for the US policymakers. The issue of Pakistan’s controversial nuclear program resurfaced that further pushed these states apart from each other. Pressler Amendment (1985) was invoked by the US and sanctions were applied against Pakistan. Based on such a policy, all the US economic and military assistance to Pakistan was completely choked. The US policy of nuclear non- proliferation was vigorously brought into play. However, these coercive measures proved counterproductive and Pakistan became an overt nuclear state in May 1998. Nuclear proliferation was another manifestation of the failure of this US policy. In late 1990s, terrorism caught US attention and it became a focal point of her foreign policy. To eliminate this menace, Pakistan was urged to help American agencies. But this further heightened tension between them. Thus, US-Pakistan relations were greatly marred throughout the 1990s. This dissertation analyzes the causes and effects of the event-related ties between Pakistan and the United States and founds the divergence of interests as the main cause of trust deficit in their relationship. The US agenda was global while Pakistan sought after her narrow local objectives. But both wished national security for their nations. It explores how the US policy of sanctions towards Pakistan failed and gave rise to nuclear proliferation. It evaluates the economic, social, political costs of the US benign neglect towards Pakistan. Due to the US strategic myopia, Pakistan’s strategic worth was overlooked that gave terrorism a chance to flourish in the region. This study specially highlights the main areas of conflict and cooperation between Pakistan and the United States and enumerates the ways and means to mitigate the misperceptions between them. Some policy recommendations are also put forward to convert the US-Pakistan relations into strategic partnership characterized with equality and mutual co-existence.