TY - JOUR
T1 - Symbolic dynamic filtering and language measure for behavior identification of mobile robots
AU - Mallapragada, Goutha
AU - Ray, Asok
AU - Jin, Xin
N1 - Funding Information:
Manuscript received June 19, 2010; revised May 19, 2011; accepted October 6, 2011. Date of publication November 3, 2011; date of current version May 16, 2012. This work was supported in part by the U.S. Army Research Laboratory and the U.S. Army Research Office under Grant W911NF-07-1-0376 and in part by the U.S. Office of Naval Research under Grant N00014-09-1-0688. This paper was recommended by Associate Editor J. Shamma.
PY - 2012
Y1 - 2012
N2 - This paper presents a procedure for behavior identification of mobile robots, which requires limited or no domain knowledge of the underlying process. While the features of robot behavior are extracted by symbolic dynamic filtering of the observed time series, the behavior patterns are classified based on language measure theory. The behavior identification procedure has been experimentally validated on a networked robotic test bed by comparison with commonly used tools, namely, principal component analysis for feature extraction and Bayesian risk analysis for pattern classification.
AB - This paper presents a procedure for behavior identification of mobile robots, which requires limited or no domain knowledge of the underlying process. While the features of robot behavior are extracted by symbolic dynamic filtering of the observed time series, the behavior patterns are classified based on language measure theory. The behavior identification procedure has been experimentally validated on a networked robotic test bed by comparison with commonly used tools, namely, principal component analysis for feature extraction and Bayesian risk analysis for pattern classification.
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U2 - 10.1109/TSMCB.2011.2172419
DO - 10.1109/TSMCB.2011.2172419
M3 - Article
C2 - 22067436
AN - SCOPUS:84861188671
SN - 1083-4419
VL - 42
SP - 647
EP - 659
JO - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
JF - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IS - 3
M1 - 6069609
ER -