5,778 research outputs found
Trajectory Clustering and an Application to Airspace Monitoring
This paper presents a framework aimed at monitoring the behavior of aircraft
in a given airspace. Nominal trajectories are determined and learned using data
driven methods. Standard procedures are used by air traffic controllers (ATC)
to guide aircraft, ensure the safety of the airspace, and to maximize the
runway occupancy. Even though standard procedures are used by ATC, the control
of the aircraft remains with the pilots, leading to a large variability in the
flight patterns observed. Two methods to identify typical operations and their
variability from recorded radar tracks are presented. This knowledge base is
then used to monitor the conformance of current operations against operations
previously identified as standard. A tool called AirTrajectoryMiner is
presented, aiming at monitoring the instantaneous health of the airspace, in
real time. The airspace is "healthy" when all aircraft are flying according to
the nominal procedures. A measure of complexity is introduced, measuring the
conformance of current flight to nominal flight patterns. When an aircraft does
not conform, the complexity increases as more attention from ATC is required to
ensure a safe separation between aircraft.Comment: 15 pages, 20 figure
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
Coordinated Robot Navigation via Hierarchical Clustering
We introduce the use of hierarchical clustering for relaxed, deterministic
coordination and control of multiple robots. Traditionally an unsupervised
learning method, hierarchical clustering offers a formalism for identifying and
representing spatially cohesive and segregated robot groups at different
resolutions by relating the continuous space of configurations to the
combinatorial space of trees. We formalize and exploit this relation,
developing computationally effective reactive algorithms for navigating through
the combinatorial space in concert with geometric realizations for a particular
choice of hierarchical clustering method. These constructions yield
computationally effective vector field planners for both hierarchically
invariant as well as transitional navigation in the configuration space. We
apply these methods to the centralized coordination and control of
perfectly sensed and actuated Euclidean spheres in a -dimensional ambient
space (for arbitrary and ). Given a desired configuration supporting a
desired hierarchy, we construct a hybrid controller which is quadratic in
and algebraic in and prove that its execution brings all but a measure zero
set of initial configurations to the desired goal with the guarantee of no
collisions along the way.Comment: 29 pages, 13 figures, 8 tables, extended version of a paper in
preparation for submission to a journa
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