Abstract
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.
| Original language | English (US) |
|---|---|
| Title of host publication | ASME 2010 Dynamic Systems and Control Conference, DSCC2010 |
| Pages | 875-882 |
| Number of pages | 8 |
| DOIs | |
| State | Published - Dec 1 2010 |
| Event | ASME 2010 Dynamic Systems and Control Conference, DSCC2010 - Cambridge, MA, United States Duration: Sep 12 2010 → Sep 15 2010 |
Publication series
| Name | ASME 2010 Dynamic Systems and Control Conference, DSCC2010 |
|---|---|
| Volume | 1 |
Other
| Other | ASME 2010 Dynamic Systems and Control Conference, DSCC2010 |
|---|---|
| Country | United States |
| City | Cambridge, MA |
| Period | 9/12/10 → 9/15/10 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Cite this
}
Wavelet-based feature extraction for behavior recognition in mobile robots. / Jin, Xin; Mukherjee, Kushal; Gupta, Shalabh; Ray, Asok.
ASME 2010 Dynamic Systems and Control Conference, DSCC2010. 2010. p. 875-882 (ASME 2010 Dynamic Systems and Control Conference, DSCC2010; Vol. 1).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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
PY - 2010/12/1
Y1 - 2010/12/1
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.
UR - http://www.scopus.com/inward/record.url?scp=79958210013&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79958210013&partnerID=8YFLogxK
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
ER -