

![0_image_0.png](0_image_0.png)

![0_image_1.png](0_image_1.png)

## 6.1 Ee Tiveness Of Rao-Bla Kwellisation

To demonstrate the ee tiveness of the Rao-Bla kwellised inferen e method for AHMM, we

```
again 
      onsider the syntheti
                           tra
                               king task in whi
                                               h it is required to monitor and predi
                                                                                    t
                                                                                     

```

the movement of an agent through the building environment previously dis ussed in sub-

```
se
  tion 3.3. The stru
               ture of the AHMM used is the same as the one shown in Fig. 5. The parameters of the poli
                    ies are 
                           hosen manually, and then used to simulate the movement of
                                                                                 

```

the agent in the building. To simulate the observation noise, we assume that the observa-

```
tion of the agent's true position 
                                  an be anywhere among its 8 neighbouring 
                                                                               ells with the
                                                                                           

```

probabilities given by a predened observation model.

