Behavioral analysis of mobile robot trajectories using a point distribution model

Authors:
Pierre Roduit;Alcherio Martinoli;Jacques Jacot
Affiliations:
Swarm-Intelligent System Group (SWIS), École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland;Swarm-Intelligent System Group (SWIS), École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland;Laboratoire de Production Microtechnique (LPM-IPR), École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
Venue:
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
Year:
2006

Citing 6
Cited 1

Active shape models—their training and application

Computer Vision and Image Understanding
Novelty Detection in Video Surveillance Using Hierarchical Neural Networks

ICANN '02 Proceedings of the International Conference on Artificial Neural Networks
Using Adaptive Tracking to Classify and Monitor Activities in a Site

CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Agent Orientated Annotation in Model Based Visual Surveillance

ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Highlights modeling and detection in sports videos

Pattern Analysis & Applications
Virtual environment trajectory analysis: a basis for navigational assistance and scene adaptivity

Future Generation Computer Systems

Accurate robot simulation through system identification

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

In recent years, the advent of robust tracking systems has enabled behavioral analysis of individuals based on their trajectories An analysis method based on a Point Distribution Model (PDM) is presented here It is an unsupervised modeling of the trajectories in order to extract behavioral features The applicability of this method has been demonstrated on trajectories of a realistically simulated mobile robot endowed with various controllers that lead to different patterns of motion Results show that this analysis method is able to clearly classify controllers in the PDM-transformed space, an operation extremely difficult in the original space The analysis also provides a link between the behaviors and trajectory differences.