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

Real-time aging trajectory prediction using a base model-oriented gradient-correction particle filter for Lithium-ion batteries

Predicting batteries' future degradation is essential for developing durable electric vehicles. The technical challenges arise from the absence of full battery degradation model and the inevitable local aging fluctuations in the uncontrolled environments. This paper proposes a base model-oriented gradient-correction particle filter (GC-PF) to predict aging trajectories of Lithium-ion batteries. Specifically, under the framework of typical particle filter, a gradient corrector is employed for each particle, resulting in the evolution of particle could follow the direction of gradient descent. This gradient corrector is also regulated by a base model. In this way, global information suggested by the base model is fully utilized, and the algorithm's sensitivity could be reduced accordingly. Further, according to the prediction deviations of base model, weighting factors between the local observations and base model can be updated adaptively. Four different battery datasets are used to extensively verify the proposed algorithm. Quantitatively, the RMSEs of GC-PF can be limited to 1.75%, which is 44% smaller than that of the conventional particle filter. In addition, the consistency of predictions when using different size of training data is also improved by 32%. Due to the pure data-driven nature, the proposed algorithm can also be extendable to other battery types