Warped Hypertime Representations for Long-term Autonomy of Mobile Robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00332172" target="_blank" >RIV/68407700:21230/19:00332172 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2019.2926682" target="_blank" >https://doi.org/10.1109/LRA.2019.2926682</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2019.2926682" target="_blank" >10.1109/LRA.2019.2926682</a>

Result language
angličtina
Original language name
Warped Hypertime Representations for Long-term Autonomy of Mobile Robots
Original language description
This paper presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modelling long-term, pseudo-periodic variations caused by human activities or natural processes. Unlike previous approaches, the proposed method does not treat time and space separately, and its continuous nature respects both the temporal and spatial continuity of the modeled phenomena. The key idea is to extend the spatial model with a set of wrapped time dimensions that represent the periodicities of the observed events. By performing clustering over this extended representation, we obtain a model that allows the prediction of probabilistic distributions of future states and events in both discrete and continuous spatial representations. We apply the proposed algorithm to several long-term datasets acquired by mobile robots and show that the method enables a robot to predict future states of representations with different dimensions. The experiments further show that the method achieves more accurate predictions than the previous state of the art.
Czech name
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Czech description
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Type
J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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