TY - GEN
T1 - Trajectory clustering for motion prediction
AU - Sung, Cynthia
AU - Feldman, Dan
AU - Rus, Daniela
PY - 2012
Y1 - 2012
N2 - We investigate a data-driven approach to robotic path planning and analyze its performance in the context of interception tasks. Trajectories of moving objects often contain repeated patterns of motion, and learning those patterns can yield interception paths that succeed more often. We therefore propose an original trajectory clustering algorithm for extracting motion patterns from trajectory data and demonstrate its effectiveness over the more common clustering approach of using k-means. We use the results to build a Hidden Markov Model of a target's motion and predict movement. Our simulations show that these predictions lead to more effective interception. The results of this work have potential applications in coordination of multi-robot systems, tracking and surveillance tasks, and dynamic obstacle avoidance.
AB - We investigate a data-driven approach to robotic path planning and analyze its performance in the context of interception tasks. Trajectories of moving objects often contain repeated patterns of motion, and learning those patterns can yield interception paths that succeed more often. We therefore propose an original trajectory clustering algorithm for extracting motion patterns from trajectory data and demonstrate its effectiveness over the more common clustering approach of using k-means. We use the results to build a Hidden Markov Model of a target's motion and predict movement. Our simulations show that these predictions lead to more effective interception. The results of this work have potential applications in coordination of multi-robot systems, tracking and surveillance tasks, and dynamic obstacle avoidance.
UR - http://www.scopus.com/inward/record.url?scp=84872336922&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/IROS.2012.6386017
DO - https://doi.org/10.1109/IROS.2012.6386017
M3 - Conference contribution
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1547
EP - 1552
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -