13,377 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
Joint Exploration of Local Metrics and Geometry in Sampling-based Planning
This thesis addresses how the local geometry of the workspace around a system state can be combined with local metrics describing system dynamics to improve the connectivity of the graph produced by a sampling-based planner over a fixed number of configurations. This development is achieved through generalization of the concept of the local free space to inner products other than the Euclidean inner product. This new structure allows for naturally combining the local free space construction with a locally applicable metric. The combination of the local free space with two specific metrics is explored in this work. The first metric is the quadratic cost-to-go function defined by a linear quadratic regulator, which captures the local behavior of the dynamical system. The second metric is the Mahalanobis distance for a belief state in a belief space planner. Belief space planners reason over distributions of states, called belief states, to include modeled uncertainty in the planning process. The Mahalanobis distances metric for a given belief state can be exploited to include notions of risk in local free space construction. Numerical simulations are provided to demonstrate the improved connectivity of the graph generated by a sampling-based planner using these concepts
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