Symbolic dynamic filtering and language measure for behavior identification of mobile robots

Goutha Mallapragada; Asok Ray; Xin Jin

doi:10.1109/TSMCB.2011.2172419

Symbolic dynamic filtering and language measure for behavior identification of mobile robots

Goutha Mallapragada
, Asok Ray
, Xin Jin

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

21 Scopus citations

Abstract

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.

Original language	English (US)
Article number	6069609
Pages (from-to)	647-659
Number of pages	13
Journal	IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume	42
Issue number	3
DOIs	https://doi.org/10.1109/TSMCB.2011.2172419
State	Published - 2012

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Software
Information Systems
Human-Computer Interaction
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TSMCB.2011.2172419

Cite this

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abstract = "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.",

author = "Goutha Mallapragada and Asok Ray and Xin Jin",

note = "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.",

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Symbolic dynamic filtering and language measure for behavior identification of mobile robots

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