PPQ-Trajectory : spatio-temporal quantization for querying in large trajectory repositories

We present PPQ-trajectory, a spatio-temporal quantization based solution for querying large dynamic trajectory data. PPQ-trajectory includes a partition-wise predictive quantizer (PPQ) that generates an error-bounded codebook with autocorrelation and spatial proximity-based partitions. The codebook is indexed to run approximate and exact spatio-temporal queries over compressed trajectories. PPQ-trajectory includes a coordinate quadtree coding for the codebook with support for exact queries. An incremental temporal partition-based index is utilised to avoid full reconstruction of trajectories during queries. An extensive set of experimental results for spatio-temporal queries on real trajectory datasets is presented. PPQ-trajectory shows significant improvements over the alternatives with respect to several performance measures, including the accuracy of results when the summary is used directly to provide approximate query results, the spatial deviation with which spatio-temporal path queries can be answered when the summary is used as an index, and the time taken to construct the summary. Superior results on the quality of the summary and the compression ratio are also demonstrated

Moving Object Trajectories Meta-Model And Spatio-Temporal Queries

In this paper, a general moving object trajectories framework is put forward to allow independent applications processing trajectories data benefit from a high level of interoperability, information sharing as well as an efficient answer for a wide range of complex trajectory queries. Our proposed meta-model is based on ontology and event approach, incorporates existing presentations of trajectory and integrates new patterns like space-time path to describe activities in geographical space-time. We introduce recursive Region of Interest concepts and deal mobile objects trajectories with diverse spatio-temporal sampling protocols and different sensors available that traditional data model alone are incapable for this purpose.Comment: International Journal of Database Management Systems (IJDMS) Vol.4, No.2, April 201

PRESS: A Novel Framework of Trajectory Compression in Road Networks

Location data becomes more and more important. In this paper, we focus on the trajectory data, and propose a new framework, namely PRESS (Paralleled Road-Network-Based Trajectory Compression), to effectively compress trajectory data under road network constraints. Different from existing work, PRESS proposes a novel representation for trajectories to separate the spatial representation of a trajectory from the temporal representation, and proposes a Hybrid Spatial Compression (HSC) algorithm and error Bounded Temporal Compression (BTC) algorithm to compress the spatial and temporal information of trajectories respectively. PRESS also supports common spatial-temporal queries without fully decompressing the data. Through an extensive experimental study on real trajectory dataset, PRESS significantly outperforms existing approaches in terms of saving storage cost of trajectory data with bounded errors.Comment: 27 pages, 17 figure

CiNCT: Compression and retrieval for massive vehicular trajectories via relative movement labeling

In this paper, we present a compressed data structure for moving object trajectories in a road network, which are represented as sequences of road edges. Unlike existing compression methods for trajectories in a network, our method supports pattern matching and decompression from an arbitrary position while retaining a high compressibility with theoretical guarantees. Specifically, our method is based on FM-index, a fast and compact data structure for pattern matching. To enhance the compression, we incorporate the sparsity of road networks into the data structure. In particular, we present the novel concepts of relative movement labeling and PseudoRank, each contributing to significant reductions in data size and query processing time. Our theoretical analysis and experimental studies reveal the advantages of our proposed method as compared to existing trajectory compression methods and FM-index variants

PRM-RL: Long-range Robotic Navigation Tasks by Combining Reinforcement Learning and Sampling-based Planning

We present PRM-RL, a hierarchical method for long-range navigation task completion that combines sampling based path planning with reinforcement learning (RL). The RL agents learn short-range, point-to-point navigation policies that capture robot dynamics and task constraints without knowledge of the large-scale topology. Next, the sampling-based planners provide roadmaps which connect robot configurations that can be successfully navigated by the RL agent. The same RL agents are used to control the robot under the direction of the planning, enabling long-range navigation. We use the Probabilistic Roadmaps (PRMs) for the sampling-based planner. The RL agents are constructed using feature-based and deep neural net policies in continuous state and action spaces. We evaluate PRM-RL, both in simulation and on-robot, on two navigation tasks with non-trivial robot dynamics: end-to-end differential drive indoor navigation in office environments, and aerial cargo delivery in urban environments with load displacement constraints. Our results show improvement in task completion over both RL agents on their own and traditional sampling-based planners. In the indoor navigation task, PRM-RL successfully completes up to 215 m long trajectories under noisy sensor conditions, and the aerial cargo delivery completes flights over 1000 m without violating the task constraints in an environment 63 million times larger than used in training.Comment: 9 pages, 7 figure