@article{novitzky2014b,
title = {AUV behavior recognition using behavior histograms, HMMs, and CRFs},
author = {Michael Novitzky and Charles Pippin and Thomas R. Collins and Tucker R. Balch
and Michael E. West},
journal = {Robotica},
address = {Cambridge, UK},
publisher = {Cambridge University Press},
pages = {291-304},
number = {2},
volume = {32},
month = {March},
year = {2014},
abstract = {This paper focuses on behavior recognition in an underwater application as a
substitute for communicating through acoustic transmissions, which can be
unreliable. The importance of this work is that sensor information regarding
other agents can be leveraged to perform behavior recognition, which is
activity recognition of robots performing specific programmed behaviors, and
task-assignment. This work illustrates the use of Behavior Histograms, Hidden
Markov Models (HMMs), and Conditional Random Fields (CRFs) to perform behavior
recognition. We present challenges associated with using each behavior
recognition technique along with results on individually selected test
trajectories, from simulated and real sonar data, and real-time recognition
through a simulated mission.}}