ICRA 2011 Paper Abstract


Paper ThA204.2

Yu, Jingjin (UIUC), LaValle, Steven M (University of Illinois)

Story Validation and Approximate Path Inference with a Sparse Network of Heterogeneous Sensors

Scheduled for presentation during the Regular Sessions "Sensor Fusion II" (ThA204), Thursday, May 12, 2011, 10:20−10:35, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Sensor Fusion, Autonomous Agents, Surveillance Systems


Given a story from an agent (sensor outputs from a robot or a tale told by a human) and recordings from a spare network of heterogeneous sensors, this paper provides efficient algorithms that validate whether it is possible to reconstruct a path compatible with the sensor recordings that is also ``close'' to the agent's story. In solving the proposed problems, we show that effective exploitation of a unique finite automaton structure yields time complexity linear in both the length of the story and the length of the sensor observation history. Besides immediate applicability towards security and forensics problems, the idea of behavior validation using external sensors also appears promising in complementing design time model verification.



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