Symbolic Dynamic Filtering and Language Measure for Behavior Identification of Mobile Robots

被引：19
作者：
Mallapragada, Goutham [1 ,2 ]
Ray, Asok [1 ]
Jin, Xin [1 ]
机构：
[1] Penn State Univ, Dept Mech Engn, University Pk, PA 16802 USA
[2] Universal Robot Inc, Nashville, TN 37217 USA
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 2012年 / 42卷 / 03期
关键词：
Feature extraction; language measure; pattern classification; robotic signatures; symbolic dynamic filtering (SDF);
D O I：
10.1109/TSMCB.2011.2172419
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a procedure for behavior identification of mobile robots, which requires limited or no domain knowledge of the underlying process. While the features of robot behavior are extracted by symbolic dynamic filtering of the observed time series, the behavior patterns are classified based on language measure theory. The behavior identification procedure has been experimentally validated on a networked robotic test bed by comparison with commonly used tools, namely, principal component analysis for feature extraction and Bayesian risk analysis for pattern classification.
引用
收藏
页码：647 / 659
页数：13
相关论文
共 28 条
  • [1] [Anonymous], 2001, Pattern Classification
  • [2] [Anonymous], 2006, Pattern recognition and machine learning
  • [3] [Anonymous], 1998, Feature Extraction, Construction and Selection: A Data Mining Perspective
  • [4] Bapat R., 1997, Nonnegative matrices and applications
  • [5] Behavior Detection Using Confidence Intervals of Hidden Markov Models
    Brooks, Richard R.
    Schwier, Jason M.
    Griffin, Christopher
    [J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2009, 39 (06): : 1484 - 1492
  • [6] Statistically relaxing to generating partitions for observed time-series data
    Buhl, M
    Kennel, MB
    [J]. PHYSICAL REVIEW E, 2005, 71 (04)
  • [7] The model-based human body motion analysis system
    Chang, IC
    Huang, CL
    [J]. IMAGE AND VISION COMPUTING, 2000, 18 (14) : 1067 - 1083
  • [8] Language-measure-theoretic optimal control of probabilistic finite-state systems
    Chattopadhyay, I.
    Ray, A.
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 2007, 80 (08) : 1271 - 1290
  • [9] Renormalized measure of regular languages
    Chattopadhyay, I.
    Ray, A.
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 2006, 79 (09) : 1107 - 1117
  • [10] Cohen L, 1995, Time-Frequency Analysis
123