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Time Distance: A Novel Collision Prediction and Path Planning Method
Jul 22, 2019
Motion planning is an active field of research in robot navigation and autonomous driving. There are plenty of classical and heuristic motion planning methods applicable to mobile robots and ground vehicles. This paper is dedicated to introducing a novel method for collision prediction and path planning. The method is called Time Distance (TD), and its basis returns to the swept volume idea. However, there are considerable differences between the TD method and existing methods associated with the swept volume concept. In this method, time is obtained as a dependent variable in TD functions. TD functions are functions of location, velocity, and geometry of objects, determining the TD of objects with respect to any location. Known as a relative concept, TD is defined as the time interval that must be spent in order for an object to reach a certain location. It is firstly defined for the one-dimensional case and then generalized to 2D space. The collision prediction algorithm consists of obtaining the TD of different points of an object (the vehicle) with respect to all objects of the environment using an explicit function which is a function of TD functions. The path planning algorithm uses TD functions and two other functions called Z-Infinity and Route Function to create the collision-free path in a dynamic environment. Both the collision prediction and the path planning algorithms are evaluated in simulations. Comparisons indicate the capability of the method to generate length optimal paths as the most effective methods do.
EEG Representation Using Multi-instance Framework on The Manifold of Symmetric Positive Definite Matrices for EEG-based Computer Aided Diagnosis
Feb 08, 2017
The generalization and robustness of an electroencephalogram (EEG)-based computer aided diagnostic system are crucial requirements in actual clinical practice. To reach these goals, we propose a new EEG representation that provides a more realistic view of brain functionality by applying multi-instance (MI) framework to consider the non-stationarity of the EEG signal. The non-stationary characteristic of EEG is considered by describing the signal as a bag of relevant and irrelevant concepts. The concepts are provided by a robust representation of homogenous segments of EEG signal using spatial covariance matrices. Due to the nonlinear geometry of the space of covariance matrices, we determine the boundaries of the homogeneous segments based on adaptive segmentation of the signal in a Riemannian framework. Each subject is described as a bag of covariance matrices of homogenous segments and the bag-level discriminative information is used for classification. To evaluate the performance of the proposed approach, we examine it in attention deficit hyperactivity/bipolar mood disorder detection and depression/normal diagnosis applications. Experimental results confirm the superiority of the proposed approach, which is gained due to the robustness of covariance descriptor, the effectiveness of Riemannian geometry, and the benefits of considering the inherent non-stationary nature of the brain.