Where's waldo at time t? Using spatio-temporal models for mobile robot search

Kód výsledku v IS VaVaI

RIV/68407700:21730/15:00241522 - isvavai.cz

Výsledek na webu

https://doi.org/10.1109/ICRA.2015.7139481

DOI - Digital Object Identifier

10.1109/ICRA.2015.7139481

Jazyk výsledku

angličtina

Název v původním jazyce

Where's waldo at time t? Using spatio-temporal models for mobile robot search

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Where's waldo at time t? Using spatio-temporal models for mobile robot search

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

TE01020197: Centrum aplikované kybernetiky 3

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of 2014 IEEE International Conference on Robotics and Automation

ISBN

978-1-4799-6923-4

ISSN

1050-4729

e-ISSN

2577-087X

Počet stran výsledku

7

Strana od-do

2140-2146

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Seattle

Datum konání akce

26. 5. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000370974902021