TY - GEN
T1 - Wavelet-based feature extraction for behavior recognition in mobile robots
AU - Jin, Xin
AU - Mukherjee, Kushal
AU - Gupta, Shalabh
AU - Ray, Asok
N1 - Copyright:
Copyright 2011 Elsevier B.V., All rights reserved.
PY - 2010
Y1 - 2010
N2 - This paper introduces a dynamic data-driven method for behavior recognition in mobile robots. The core concept of the paper is built upon the principle of symbolic dynamic filtering (SDF) that is used to extract relevant information in complex dynamical systems. The objective here is to identify the robot behavior from time-series data of piezoelectric sensor signals from the pressure sensitive floor in a laboratory environment. A symbolic feature extraction method is presented by partitioning of two-dimensional wavelet images of sensor time-series data. The K-nearest neighbors (k-NN) algorithm is used to identify the patterns extracted by SDF. The proposed method is validated by experimentation on a networked robotics test bed to detect and identify the type and motion profile of mobile robots.
AB - This paper introduces a dynamic data-driven method for behavior recognition in mobile robots. The core concept of the paper is built upon the principle of symbolic dynamic filtering (SDF) that is used to extract relevant information in complex dynamical systems. The objective here is to identify the robot behavior from time-series data of piezoelectric sensor signals from the pressure sensitive floor in a laboratory environment. A symbolic feature extraction method is presented by partitioning of two-dimensional wavelet images of sensor time-series data. The K-nearest neighbors (k-NN) algorithm is used to identify the patterns extracted by SDF. The proposed method is validated by experimentation on a networked robotics test bed to detect and identify the type and motion profile of mobile robots.
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U2 - 10.1115/DSCC2010-4059
DO - 10.1115/DSCC2010-4059
M3 - Conference contribution
AN - SCOPUS:79958210013
SN - 9780791844175
T3 - ASME 2010 Dynamic Systems and Control Conference, DSCC2010
SP - 875
EP - 882
BT - ASME 2010 Dynamic Systems and Control Conference, DSCC2010
T2 - ASME 2010 Dynamic Systems and Control Conference, DSCC2010
Y2 - 12 September 2010 through 15 September 2010
ER -