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Detecting Abnormal Behaviors of Small Flying Robots for Automatic Trajectory Control

Kiwon Yeom
Department of Human Intelligence Robot Engineering, Sangmyung University, Cheonan, South Korea

Abstract—Change points are abrupt variations in a data sequence. Detection of change points is useful in modeling, analyzing, and predicting time series in application areas such as robotics and teleoperation. In this paper, a change point is defined to be an abrupt variation in one of its derivatives. This paper presents a reliable method for detecting abrupt variations within three dimensional trajectories of UAV robots. The problem of determining one or more abnormal flight behavior is considered in regular and irregular trajectory data from teleoperation. We examine the geometric detection algorithm and illustrate the use of the method on real data examples. 

Index Terms—change point, abnormal behavior, trajectory, teleoperation, abrupt variation

Cite: Kiwon Yeom, "Detecting Abnormal Behaviors of Small Flying Robots for Automatic Trajectory Control" International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 3, pp. 429-434, March 2020. DOI: 10.18178/ijmerr.9.3.429-434

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.