Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Multiscale Topological Trajectory Classification with Persistent Homology
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-1114-6040
University of Edinburgh, School of Informatics, IPAB.
University of Edinburgh, School of Informatics, IPAB.
2014 (engelsk)Inngår i: Proceedings of Robotics: Science and Systems, 2014, 2014Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Topological approaches to studying equivalence classes of trajectories in a configuration space have recently received attention in robotics since they allow a robot to reason about trajectories at a high level of abstraction. While recent work has approached the problem of topological motion planning under the assumption that the configuration space and obstacles within it are explicitly described in a noise-free manner, we focus on trajectory classification and present a sampling-based approach which can handle noise, which is applicable to general configuration spaces and which relies only on the availability of collision free samples. Unlike previous sampling-based approaches in robotics which use graphs to capture information about the path-connectedness of a configuration space, we construct a multiscale approximation of neighborhoods of the collision free configurations based on filtrations of simplicial complexes. Our approach thereby extracts additional homological information which is essential for a topological trajectory classification. By computing a basis for the first persistent homology groups, we obtain a multiscale classification algorithm for trajectories in configuration spaces of arbitrary dimension. We furthermore show how an augmented filtration of simplicial complexes based on a cost function can be defined to incorporate additional constraints. We present an evaluation of our approach in 2, 3, 4 and 6 dimensional configuration spaces in simulation and using a Baxter robot.

sted, utgiver, år, opplag, sider
2014.
Emneord [en]
Motion Classification, Persistent Homology, Trajectory Classification, Filtration, Motion Planning
HSV kategori
Forskningsprogram
Datalogi
Identifikatorer
URN: urn:nbn:se:kth:diva-159003OAI: oai:DiVA.org:kth-159003DiVA, id: diva2:781917
Konferanse
The 2014 Robotics: Science and Systems Conference, July 12 - 16, 2014 Berkeley, USA
Forskningsfinansiär
EU, FP7, Seventh Framework Programme, 270436EU, FP7, Seventh Framework Programme, 318493
Merknad

QC 20150205

Tilgjengelig fra: 2015-01-19 Laget: 2015-01-19 Sist oppdatert: 2015-02-05bibliografisk kontrollert

Open Access i DiVA

Fulltekst mangler i DiVA

Andre lenker

Published version

Personposter BETA

Pokorny, Florian T.

Søk i DiVA

Av forfatter/redaktør
Pokorny, Florian T.
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric

urn-nbn
Totalt: 704 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf