Wavelet-Based Feature Extraction for Behavior Recognition in Mobile Robots

This paper introduces a dynamic data-driven method for behavior recognition in mobile robots. The core concept of the paper is built upon the principle of symbolic dynamic filtering (SDF) that is used to extract relevant information in complex dynamical systems. The objective here is to identify the robot behavior from time-series data of piezoelectric sensor signals from the pressure sensitive floor in a laboratory environment. A symbolic feature extraction method is presented by partitioning of two-dimensional wavelet images of sensor time-series data. The K-nearest neighbors (k-NN) algorithm is used to identify the patterns extracted by SDF. The proposed method is validated by experimentation on a networked robotics test bed to detect and identify the type and motion profile of mobile robots.