Abstract
This paper introduces a problem of validating the claimed behavior of an autonomous agent (human or robot) in an indoor environment containing one or more agents, against the observation history from a sparse network of simple, stationary sensors deployed in the same environment. Following principles of dynamic programming, we partition the decision problem into incremental search over a sequence of connectivity subgraphs induced by sensor recordings, which yields efficient algorithms for both single and multiple agent cases. In addition to immediate applicability towards security and forensics problems, the idea of behavior validation using external sensors complements design time model verification.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Alur, R., Henzinger, T.A., Lafferriere, G., Pappas, G.J.: Discrete abstractions of hybrid systems. Proceedings of the IEEE, 971–984 (2000)
Asarin, E., Bournez, O., Dang, T., Maler, O.: Approximate reachability analysis of piecewise-linear dynamical systems, pp. 21–31. Springer, Heidelberg (2000)
Aslam, J., Butler, Z., Constantin, F., Crespi, V., Cybenko, G., Rus, D.: Tracking a moving object with a binary sensor network, pp. 150–161. ACM Press, New York (2002)
Baryshnikov, Y., Ghrist, R.: Target enumeration via integration over planar sensor networks. In: Proceedings of Robotics: Science and Systems IV, Zurich, Switzerland (June 2008)
Bellman, R.E.: Dynamic Programming. Princeton University Press, Princeton (1957)
Castellanos, J., Montiel, J., Neira, J., Tardós, J.: The SPmap: A probabilistic framework for simultaneous localization and mapping. IEEE Transactions on Robotics & Automation 15(5), 948–953 (1999)
Chazelle, B.: Approximation and decomposition of shapes. In: Schwartz, J.T., Yap, C.K. (eds.) Algorithmic and Geometric Aspects of Robotics, pp. 145–185. Lawrence Erlbaum Associates, Hillsdale (1987)
Cheng, P., Kumar, V.: Sampling-based falsification and verification of controllers for continuous dynamic systems. In: Proceedings Workshop on Algorithmic Foundations of Robotics (2006)
Choset, H., Nagatani, K.: Topological simultaneous localization and mapping (T-SLAM). IEEE Transactions on Robotics & Automation 17(2), 125–137 (2001)
Chutinan, A., Krogh, B.: Computational techniques for hybrid system verification. IEEE Transactions on Automatic Control 48(1), 64–75 (2003)
Conner, D.C., Kress-gazit, H., Choset, H., Rizzi, A.A., Pappas, G.: Valet parking without a valet. In: IEEE/RSJ International Conference on Intelligent Robots & Systems (2007)
Dehn, M.: Papers on Group Theory and Topology. Springer, Berlin (1987)
Dissanayake, G., Newman, P., Clark, S., Durrant-Whyte, H.F., Csorba, M.: A solution to the simultaneous localisation and map building (SLAM) problem. IEEE Transactions on Robotics & Automation 17(3), 229–241 (2001)
Epstein, D.B.A., Paterson, M.S., Camon, G.W., Holt, D.F., Levy, S.V., Thurston, W.P.: Word Processing in Groups. A. K. Peters, Natick (1992)
Fang, Q., Zhao, F., Guibas, L.: Counting targets: Building and managing aggregates in wireless sensor networks. Technical Report P2002-10298, Palo Alto Research Center (June 2002)
Hopcroft, J., Tarjan, R.: Efficient algorithms for graph manipulation. Communications of the ACM 16(6), 372–378 (1973)
Kim, W., Mechitov, K., Choi, J., Ham, S.: On target tracking with binary proximity sensors. In: ACM/IEEE International Conference on Information Processing in Sensor Networks, pp. 301–308. IEEE Press, Los Alamitos (2005)
Kress-gazit, H., Fainekos, G.E., Pappas, G.: Where’s waldo? sensor-based temporal logic motion planning. In: Proceedings IEEE International Conference on Robotics & Automation, pp. 3116–3121 (2007)
LaValle, S.M.: Planning Algorithms. Cambridge University Press, Cambridge (2006), http://planning.cs.uiuc.edu/
LaValle, S.M.: Filtering and planning in information spaces. Technical report, Department of Computer Science, University of Illinois (October 2009)
Montemerlo, M., Thrun, S., Koller, D., Wegbreit, B.: FastSLAM: A factored solution to the simultaneous localization and mapping problem. In: Proceedings AAAI National Conference on Artificial Intelligence (1999)
Parr, R., Eliazar, A.: DP-SLAM: Fast, robust simultaneous localization and mapping without predetermined landmarks. In: Proceedings International Joint Conference on Artificial Intelligence (2003)
Piterman, N., Pnueli, A., Sa’ar, Y.: Synthesis of reactive(1) designs. In: Proceedings Verification, Model Checking, and Abstract Interpretation, pp. 364–380. Springer, Heidelberg (2006)
Rao, B.S.Y., Durrant-Whyte, H.F., Sheen, J.S.: A fully decentralized multi-sensor system for tracking and surveillance. International Journal of Robotics Research 12(1), 20–44 (1993)
Shrivastava, N., Mudumbai, R., Madhow, U., Suri, S.: Target tracking with binary proximity sensors: fundamental limits, minimal descriptions, and algorithms. In: Proc. 4th Internat. Conf. on Embedded Networked Sensor Systems, pp. 251–264. ACM Press, New York (2006)
Singh, J., Kumar, R., Madhow, U., Suri, S., Cagley, R.: Tracking multiple targets using binary proximity sensors. In: Proc. Information Processing in Sensor Networks (2007)
Thrun, S., Burgard, W., Fox, D.: A probabilistic approach to concurrent mapping and localization for mobile robots. Machine Learning 31(5), 1–25 (1998)
Tovar, B., Cohen, F., LaValle, S.M.: Sensor beams, obstacles, and possible paths. In: Proceedings Workshop on Algorithmic Foundations of Robotics (2008)
Tovar, B., Murrieta, R., LaValle, S.M.: Distance-optimal navigation in an unknown environment without sensing distances. IEEE Transactions on Robotics 23(3), 506–518 (2007)
Yu, J., LaValle, S.M.: Tracking hidden agents through shadow information spaces. In: Proceedings IEEE International Conference on Robotics & Automation (2008)
Yu, J., LaValle, S.M.: Probabilistic shadow information spaces. In: Proceedings IEEE International Conference on Robotics & Automation (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Yu, J., LaValle, S.M. (2010). Cyber Detectives: Determining When Robots or People Misbehave. In: Hsu, D., Isler, V., Latombe, JC., Lin, M.C. (eds) Algorithmic Foundations of Robotics IX. Springer Tracts in Advanced Robotics, vol 68. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17452-0_23
Download citation
DOI: https://doi.org/10.1007/978-3-642-17452-0_23
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-17451-3
Online ISBN: 978-3-642-17452-0
eBook Packages: EngineeringEngineering (R0)