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Comparative Analysis of Techniques for Spatio-Temporal World Modeling

  • Currently, a variety of methods exist for creating different types of spatio-temporal world models. Despite the numerous methods for this type of modeling, there exists no methodology for comparing the different approaches or their suitability for a given application e.g. logistics robots. In order to establish a means for comparing and selecting the best-fitting spatio-temporal world modeling technique, a methodology and standard set of criteria must be established. To that end, state-of-the-art methods for this type of modeling will be collected, listed, and described. Existing methods used for evaluation will also be collected where possible. Using the collected methods, new criteria and techniques will be devised to enable the comparison of various methods in a qualitative manner. Experiments will be proposed to further narrow and ultimately select a spatio-temporal model for a given purpose. An example network of autonomous logistic robots, ROPOD, will serve as a case study used to demonstrate the use of the new criteria. This will also serve to guide the design of future experiments that aim to select a spatio-temporal world modeling technique for a given task. ROPOD was specifically selected as it operates in a real-world, human shared environment. This type of environment is desirable for experiments as it provides a unique combination of common and novel problems that arise when selecting an appropriate spatio-temporal world model. Using the developed criteria, a qualitative analysis will be applied to the selected methods to remove unfit options. Then, experiments will be run on the remaining methods to provide comparative benchmarks. Finally, the results will be analyzed and recommendations to ROPOD will be made.

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Document Type:Report
Author:Ethan Oswald Massey
Number of pages:xiv, 117
Supervisor:Erwin Prassler, Argentina Ortega Sainz, Sebastian Blumenthal
Publishing Institution:Hochschule Bonn-Rhein-Sieg
Contributing Corporation:Bonn-Aachen International Center for Information Technology (b-it)
Date of first publication:2019/12/02
Series (Volume):Technical Report / Hochschule Bonn-Rhein-Sieg University of Applied Sciences. Department of Computer Science (03-2019)
Keyword:Benchmark; Comparative Analysis; Long-Term Autonomy; ROPOD; Spatio-Temporal
Departments, institutes and facilities:Fachbereich Informatik
Projects:ROPOD - Ultra-flat, ultra-flexible, cost-effective robotic pods for handling legacy in logistics (EC/H2020/731848)
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Series:Technical Report / University of Applied Sciences Bonn-Rhein-Sieg. Department of Computer Science
Entry in this database:2019/12/02
Licence (Multiple languages):License LogoIn Copyright (Urheberrechtsschutz)