Predicting the State of Agents Using Motion and Occupancy Grids

David Ball; Gordon Wyeth

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Paper

Predicting the State of Agents Using Motion and Occupancy Grids

In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 0ICINCO, 112-121, 2005 , Barcelona, Spain

Authors: David Ball and Gordon Wyeth

Affiliation: School of Information Technology and Electrical Engineering, The University of Queensland, Australia

Abstract: This paper presents an approach to predicting the future state of dynamic agents using an extension to occupancy grids that we have called motion and occupancy grids. These grids capture both the location and motion of an agent. The basis of the prediction is to model the behaviour of an agent as the probability of transitions between the states represented in the grid. Prediction can then be made using a Markov chain. The potential state explosion inherent in this method is overcome by dynamically building the state transition matrix in a tree structure. The results show that the system is able to rapidly develop probabilistic models of complex agents and predict their future state.

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Paper citation in several formats:

Ball, D. and Wyeth, G. (2005). Predicting the State of Agents Using Motion and Occupancy Grids. In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS; ISBN 972-8865-34-1, SciTePress, pages 112-121. DOI: 10.5220/0001192301120121

@conference{mars05,
author={David Ball. and Gordon Wyeth.},
title={Predicting the State of Agents Using Motion and Occupancy Grids},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS},
year={2005},
pages={112-121},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001192301120121},
isbn={972-8865-34-1},
}

TY - CONF

JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS
TI - Predicting the State of Agents Using Motion and Occupancy Grids
SN - 972-8865-34-1
AU - Ball, D.
AU - Wyeth, G.
PY - 2005
SP - 112
EP - 121
DO - 10.5220/0001192301120121
PB - SciTePress