AUTHOR=Fitzpatrick Grady , Lipovetzky Nir , Papasimeon Michael , Ramirez Miquel , Vered Mor 

TITLE=Behaviour Recognition with Kinodynamic Planning Over Continuous Domains

JOURNAL=Frontiers in Artificial Intelligence

VOLUME=4

YEAR=2021

URL=https://www.frontiersin.org/journals/artificial-intelligence/articles/10.3389/frai.2021.717003

DOI=10.3389/frai.2021.717003

ISSN=2624-8212

ABSTRACT=<p>We investigate the application of state-of-the-art goal recognition techniques for <italic>behaviour</italic> recognition over complex continuous domains using model predictive control (MPC) for trajectory generation. We formally define the problem of kinodynamic behaviour recognition and establish a set of baseline behaviours and performance measures in the complex domain of unmanned aerial maneuvers. We evaluate how well our approach performs over a range of standard aerial maneuvers and representative initial configurations of varying complexity. The work also highlights future research directions in compound model-based behaviour recognition and team behaviour recognition where multiple agents may be acting simultaneously.</p>