Frontiers in Artificial Intelligence (Oct 2021)

Behaviour Recognition with Kinodynamic Planning Over Continuous Domains

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

DOI
https://doi.org/10.3389/frai.2021.717003
Journal volume & issue
Vol. 4

Abstract

Read online

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 acting simultaneously.

Keywords