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    Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application

    Source: ASME Letters in Dynamic Systems and Control:;2021:;volume( 001 ):;issue: 001::page 011013-1
    Author:
    Wolkowicz, Kelilah L.
    ,
    Leary, Robert D.
    ,
    Moore, Jason Z.
    ,
    Brennan, Sean N.
    DOI: 10.1115/1.4046578
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Typically, mobile vehicles follow the same paths repeatedly, resulting in a common path bounded with some variance. These paths are often punctuated by branches into other paths based on decision-making in the area around the branch. This work applies a statistical methodology to determine decision-making regions for branching paths. An average path is defined in the proposed algorithm, as well as boundaries representing variances along the path. The boundaries along each branching path intersect near the decision point; these intersections in path variances are used to determine path-branching locations. The resulting analysis provides decision points that are robust to typical path conditions, such as two paths that may not clearly diverge at a specific location. Additionally, the methodology defines decision region radii that encompass statistical memberships of a location relative to the branching paths. To validate the proposed technique, an off-line implementation of the decision-making region algorithm is applied to previously classified wheelchair path subsets. Results show robust detection of decision regions that intuitively agree with user decision-making in real-world path following. For the experimental situation of this study, approximately 70% of path locations were outside of decision regions and thus could be navigated with a significant reduction in user inputs.
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      Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application

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    contributor authorWolkowicz, Kelilah L.
    contributor authorLeary, Robert D.
    contributor authorMoore, Jason Z.
    contributor authorBrennan, Sean N.
    date accessioned2022-02-04T23:00:52Z
    date available2022-02-04T23:00:52Z
    date copyright1/1/2021 12:00:00 AM
    date issued2021
    identifier issn2689-6117
    identifier otheraldsc_1_1_011013.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4275910
    description abstractTypically, mobile vehicles follow the same paths repeatedly, resulting in a common path bounded with some variance. These paths are often punctuated by branches into other paths based on decision-making in the area around the branch. This work applies a statistical methodology to determine decision-making regions for branching paths. An average path is defined in the proposed algorithm, as well as boundaries representing variances along the path. The boundaries along each branching path intersect near the decision point; these intersections in path variances are used to determine path-branching locations. The resulting analysis provides decision points that are robust to typical path conditions, such as two paths that may not clearly diverge at a specific location. Additionally, the methodology defines decision region radii that encompass statistical memberships of a location relative to the branching paths. To validate the proposed technique, an off-line implementation of the decision-making region algorithm is applied to previously classified wheelchair path subsets. Results show robust detection of decision regions that intuitively agree with user decision-making in real-world path following. For the experimental situation of this study, approximately 70% of path locations were outside of decision regions and thus could be navigated with a significant reduction in user inputs.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleStatistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application
    typeJournal Paper
    journal volume1
    journal issue1
    journal titleASME Letters in Dynamic Systems and Control
    identifier doi10.1115/1.4046578
    journal fristpage011013-1
    journal lastpage011013-5
    page5
    treeASME Letters in Dynamic Systems and Control:;2021:;volume( 001 ):;issue: 001
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian