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With the recent development of localization and tracking systems for both indoor and outdoor settings, we consider the problem of sensing, representing and analyzing human movement trajectories that we expect to gather in the near future.…
Topological data analysis refers to approaches for systematically and reliably computing abstract ``shapes'' of complex data sets. There are various applications of topological data analysis in life and data sciences, with growing interest…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
In this paper we introduce a new data-driven run-time monitoring system for analysing the behaviour of time evolving complex systems. The monitor controls the evolution of the whole system but it is mined from the data produced by its…
We use topological data analysis as a tool to analyze the fit of mathematical models to experimental data. This study is built on data obtained from motion tracking groups of aphids in [Nilsen et al., PLOS One, 2013] and two random walk…
We apply topological data analysis to the behavior of C. elegans, a widely-studied model organism in biology. In particular, we use topology to produce a quantitative summary of complex behavior which may be applied to high-throughput data.…
Complex prediction models such as deep learning are the output from fitting machine learning, neural networks, or AI models to a set of training data. These are now standard tools in science. A key challenge with the current generation of…
In this paper, we synthesize a data-driven method to predict the optimal topology of an ad-hoc robot network. This problem is technically a multi-task classification problem. However, we divide it into a class of multi-class classification…
Mobile robots with complex morphology are essential for traversing rough terrains in Urban Search & Rescue missions (USAR). Since teleoperation of the complex morphology causes high cognitive load of the operator, the morphology is…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
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…
Understanding the global dynamics of a robot controller, such as identifying attractors and their regions of attraction (RoA), is important for safe deployment and synthesizing more effective hybrid controllers. This paper proposes a…
Many multi-variate time series obtained in the natural sciences and engineering possess a repetitive behavior, as for instance state-space trajectories of industrial machines in discrete automation. Recovering the times of recurrence from…
Trajectory prediction in a cluttered environment is key to many important robotics tasks such as autonomous navigation. However, there are an infinite number of possible trajectories to consider. To simplify the space of trajectories under…
This paper introduces the induced matching distance, a novel topological metric designed to compare discrete structures represented by a symmetric non-negative function. We apply this notion to analyze agent trajectories over time. We use…
As both machine learning models and the datasets on which they are evaluated have grown in size and complexity, the practice of using a few summary statistics to understand model performance has become increasingly problematic. This is…
Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development.…
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…