Warped Hypertime Representations for Long-Term Autonomy of Mobile Robots

Krajnik, Tomas, Vintr, Tomas, Molina Mellado, Sergi , Pulido Fentanes, Jaime, Cielniak, Grzegorz, Martinez Mozos, Oscar, Broughton, George and Duckett, Tom (2019) Warped Hypertime Representations for Long-Term Autonomy of Mobile Robots. IEEE Robotics and Automation Letters, 4 (4). pp. 3310-3317. ISSN 2377-3766

Full content URL: https://doi.org/10.1109/LRA.2019.2926682


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This letter presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modeling long-term, pseudo-periodic variations caused by human activities or natural processes. Unlike previous approaches, the proposed method does not treat time and space separately, and its continuous nature respects both the temporal and spatial continuity of the modeled phenomena. The key idea is to extend the spatial model with a set of wrapped time dimensions that represent the periodicities of the observed events. By performing clustering over this extended representation, we obtain a model that allows the prediction of probabilistic distributions of future states and events in both discrete and continuous spatial representations. We apply the proposed algorithm to several long-term datasets acquired by mobile robots and show that the method enables a robot to predict future states of representations with different dimensions. The experiments further show that the method achieves more accurate predictions than the previous state of the art.

Keywords:mapping, learning and adaptive systems, service robots
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
ID Code:36962
Deposited On:12 Sep 2019 10:40

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