Behavioral Analysis of Mobile Robot Trajectories Using a Point Distribution Model

  • Pierre Roduit
  • Alcherio Martinoli
  • Jacques Jacot
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4095)


In recent years, the advent of robust tracking systems has enabled behavioral analysis of individuals based on their trajectories. An analysis method based on a Point Distribution Model (PDM) is presented here. It is an unsupervised modeling of the trajectories in order to extract behavioral features. The applicability of this method has been demonstrated on trajectories of a realistically simulated mobile robot endowed with various controllers that lead to different patterns of motion. Results show that this analysis method is able to clearly classify controllers in the PDM-transformed space, an operation extremely difficult in the original space. The analysis also provides a link between the behaviors and trajectory differences.


Mobile Robot Deformation Mode Mahalanobis Distance Video Surveillance Behavioral Analysis 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Pierre Roduit
    • 1
    • 2
  • Alcherio Martinoli
    • 1
  • Jacques Jacot
    • 2
  1. 1.Swarm-Intelligent System Group (SWIS)École Polytechnique Fédérale de LausanneLausanneSwitzerland
  2. 2.Laboratoire de Production Microtechnique (LPM-IPR)École Polytechnique Fédérale de LausanneLausanneSwitzerland

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