Journal article

Behaviour Recognition with Kinodynamic Planning Over Continuous Domains.

Grady Fitzpatrick, Nir Lipovetzky, Michael Papasimeon, Miquel Ramirez, Mor Vered

Front Artif Intell | Frontiers Media SA | Published : 2021

Abstract

We investigate the application of state-of-the-art goal recognition techniques for behaviour recognition over complex continuous domains using model predictive control (MPC) for trajectory generation. We formally define the problem of kinodynamic behaviour recognition and establish a set of baseline behaviours and performance measures in the complex domain of unmanned aerial maneuvers. We evaluate how well our approach performs over a range of standard aerial maneuvers and representative initial configurations of varying complexity. The work also highlights future research directions in compound model-based behaviour recognition and team behaviour recognition where multiple agents may be act..

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