5,174 research outputs found

    A Semi-Supervised Approach for the Semantic Segmentation of Trajectories

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    A first fundamental step in the process of analyzing movement data is trajectory segmentation, i.e., splitting trajecto- ries into homogeneous segments based on some criteria. Although trajectory segmentation has been the object of several approaches in the last decade, a proposal based on a semi-supervised approach remains inexistent. A semi-supervised approach means that a user labels manually a small set of trajectories with meaningful segments and, from this set, the method infers in an unsupervised way the segments of the remaining trajecto- ries. The main advantage of this method compared to pure supervised ones is that it reduces the human effort to label the number of trajectories. In this work, we propose the use of the Minimum Description Length (MDL) principle to measure homogeneity inside segments. We also introduce the Reactive Greedy Randomized Adaptive Search Procedure for semantic Semi- supervised Trajectory Segmentation (RGRASP-SemTS) algorithm that segments trajectories by combining a limited user labeling phase with a low number of input parameters and no predefined segmenting criteria. The approach and the algorithm are pre- sented in detail throughout the paper, and the experiments are carried out on two real-world datasets. The evaluation tests prove how our approach outperforms state-of-the-art competitors when compared to ground truth. This is a preprint version of the full article published by IEEE at https://ieeexplore.ieee.org/document/841127

    Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot

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    Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to adapt to a wide variety of terrains and workspaces during a mission. The centaur-like robot Centauro has a hybrid legged-wheeled base and an anthropomorphic upper body to carry out complex tasks in environments too dangerous for humans. Due to its high number of degrees of freedom, controlling the robot with direct teleoperation approaches is challenging and exhausting. Supervised autonomy approaches are promising to increase quality and speed of control while keeping the flexibility to solve unknown tasks. We developed a set of operator assistance functionalities with different levels of autonomy to control the robot for challenging locomotion and manipulation tasks. The integrated system was evaluated in disaster response scenarios and showed promising performance.Comment: In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 201
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