流動環境における特徴学習と状況認識の改善
Learning and Leveraging Features in Flow-Like Environments to Improve Situational Awareness
流れのような環境でコヒーレント集合をオンライン生成し、ロボットの歩行者監視や水中ナビゲーションに活用する手法を提案した論文。
著者: Tahiya Salam, Victoria Edwards, M. Ani Hsieh
分類: cs.RO, stat.AP
原文アブストラクト
This paper studies how global dynamics and knowledge of high-level features can inform decision-making for robots in flow-like environments. Specifically, we investigate how coherent sets, an environmental feature found in these environments, inform robot awareness within these scenarios. The proposed approach is an online environmental feature generator which can be used for robot reasoning. We compute coherent sets online with techniques from machine learning and design frameworks for robot behavior that leverage coherent set features. We demonstrate the effectiveness of online methods over offline methods. Notably, we apply these online methods for robot monitoring of pedestrian behaviors and robot navigation through water. Environmental features such as coherent sets provide rich context to robots for smarter, more efficient behavior.
