7,046 research outputs found
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
Recurrence-based time series analysis by means of complex network methods
Complex networks are an important paradigm of modern complex systems sciences
which allows quantitatively assessing the structural properties of systems
composed of different interacting entities. During the last years, intensive
efforts have been spent on applying network-based concepts also for the
analysis of dynamically relevant higher-order statistical properties of time
series. Notably, many corresponding approaches are closely related with the
concept of recurrence in phase space. In this paper, we review recent
methodological advances in time series analysis based on complex networks, with
a special emphasis on methods founded on recurrence plots. The potentials and
limitations of the individual methods are discussed and illustrated for
paradigmatic examples of dynamical systems as well as for real-world time
series. Complex network measures are shown to provide information about
structural features of dynamical systems that are complementary to those
characterized by other methods of time series analysis and, hence,
substantially enrich the knowledge gathered from other existing (linear as well
as nonlinear) approaches.Comment: To be published in International Journal of Bifurcation and Chaos
(2011
Path Similarity Analysis: a Method for Quantifying Macromolecular Pathways
Diverse classes of proteins function through large-scale conformational
changes; sophisticated enhanced sampling methods have been proposed to generate
these macromolecular transition paths. As such paths are curves in a
high-dimensional space, they have been difficult to compare quantitatively, a
prerequisite to, for instance, assess the quality of different sampling
algorithms. The Path Similarity Analysis (PSA) approach alleviates these
difficulties by utilizing the full information in 3N-dimensional trajectories
in configuration space. PSA employs the Hausdorff or Fr\'echet path
metrics---adopted from computational geometry---enabling us to quantify path
(dis)similarity, while the new concept of a Hausdorff-pair map permits the
extraction of atomic-scale determinants responsible for path differences.
Combined with clustering techniques, PSA facilitates the comparison of many
paths, including collections of transition ensembles. We use the closed-to-open
transition of the enzyme adenylate kinase (AdK)---a commonly used testbed for
the assessment enhanced sampling algorithms---to examine multiple microsecond
equilibrium molecular dynamics (MD) transitions of AdK in its substrate-free
form alongside transition ensembles from the MD-based dynamic importance
sampling (DIMS-MD) and targeted MD (TMD) methods, and a geometrical targeting
algorithm (FRODA). A Hausdorff pairs analysis of these ensembles revealed, for
instance, that differences in DIMS-MD and FRODA paths were mediated by a set of
conserved salt bridges whose charge-charge interactions are fully modeled in
DIMS-MD but not in FRODA. We also demonstrate how existing trajectory analysis
methods relying on pre-defined collective variables, such as native contacts or
geometric quantities, can be used synergistically with PSA, as well as the
application of PSA to more complex systems such as membrane transporter
proteins.Comment: 9 figures, 3 tables in the main manuscript; supplementary information
includes 7 texts (S1 Text - S7 Text) and 11 figures (S1 Fig - S11 Fig) (also
available from journal site
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
No abstract available
Omnidirectional Vision Based Topological Navigation
Goedemé T., Van Gool L., ''Omnidirectional vision based topological navigation'', Mobile robots navigation, pp. 172-196, Barrera Alejandra, ed., March 2010, InTech.status: publishe
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