Where's waldo at time t? Using spatio-temporal models for mobile robot search
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F15%3A00241522" target="_blank" >RIV/68407700:21730/15:00241522 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICRA.2015.7139481" target="_blank" >https://doi.org/10.1109/ICRA.2015.7139481</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2015.7139481" target="_blank" >10.1109/ICRA.2015.7139481</a>
Alternative languages
Result language
angličtina
Original language name
Where's waldo at time t? Using spatio-temporal models for mobile robot search
Original language description
We present a novel approach to mobile robot search for non-stationary objects in partially known environments. We formulate the search as a path planning problem in an environment where the probability of object occurrences at particular locations is a function of time. We propose to explicitly model the dynamics of the object occurrences by their frequency spectra. Using this spectral model, our path planning algorithm can construct plans that reflect the likelihoods of object locations at the time the search is performed. Three datasets collected over several months containing person and object occurrences in residential and office environments were chosen to evaluate the approach. Several types of spatio-temporal models are created for each of these datasets and the efficiency of the search method is assessed by measuring the time it took to locate a particular object. The experiments indicate that modeling the dynamics of objects' occurrence reduces the search time by 25% to 65% compared to maps that neglect these dynamics.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/TE01020197" target="_blank" >TE01020197: Centre for Applied Cybernetics 3</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 2014 IEEE International Conference on Robotics and Automation
ISBN
978-1-4799-6923-4
ISSN
1050-4729
e-ISSN
2577-087X
Number of pages
7
Pages from-to
2140-2146
Publisher name
IEEE
Place of publication
Piscataway
Event location
Seattle
Event date
May 26, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000370974902021