A comparison of the alr and ilr transformations for kernel density estimation of compositional data

In a seminal paper, Aitchison and Lauder (1985) introduced classical kernel density estimation techniques in the context of compositional data analysis. Indeed, they gave two options for the choice of the kernel to be used in the kernel estimator. One of these kernels is based on the use the alr transformation on the simplex SD jointly with the normal distribution on RD-1. However, these authors themselves recognized that this method has some deficiencies. A method for overcoming these dificulties based on recent developments for compositional data analysis and multivariate kernel estimation theory, combining the ilr transformation with the use of the normal density with a full bandwidth matrix, was recently proposed in Martín-Fernández, Chacón and Mateu- Figueras (2006). Here we present an extensive simulation study that compares both methods in practice, thus exploring the finite-sample behaviour of both estimators

Clustering compositional data trajectories

Our essay aims at studying suitable statistical methods for the clustering of compositional data in situations where observations are constituted by trajectories of compositional data, that is, by sequences of composition measurements along a domain. Observed trajectories are known as “functional data” and several methods have been proposed for their analysis. In particular, methods for clustering functional data, known as Functional Cluster Analysis (FCA), have been applied by practitioners and scientists in many fields. To our knowledge, FCA techniques have not been extended to cope with the problem of clustering compositional data trajectories. In order to extend FCA techniques to the analysis of compositional data, FCA clustering techniques have to be adapted by using a suitable compositional algebra. The present work centres on the following question: given a sample of compositional data trajectories, how can we formulate a segmentation procedure giving homogeneous classes? To address this problem we follow the steps described below. First of all we adapt the well-known spline smoothing techniques in order to cope with the smoothing of compositional data trajectories. In fact, an observed curve can be thought of as the sum of a smooth part plus some noise due to measurement errors. Spline smoothing techniques are used to isolate the smooth part of the trajectory: clustering algorithms are then applied to these smooth curves. The second step consists in building suitable metrics for measuring the dissimilarity between trajectories: we propose a metric that accounts for difference in both shape and level, and a metric accounting for differences in shape only. A simulation study is performed in order to evaluate the proposed methodologies, using both hierarchical and partitional clustering algorithm. The quality of the obtained results is assessed by means of several indices

Local WMR navigation with monocular data

This article presents recent WMR (wheeled mobile robot) navigation experiences using local perception knowledge provided by monocular and odometer systems. A local narrow perception horizon is used to plan safety trajectories towards the objective. Therefore, monocular data are proposed as a way to obtain real time local information by building two dimensional occupancy grids through a time integration of the frames. The path planning is accomplished by using attraction potential fields, while the trajectory tracking is performed by using model predictive control techniques. The results are faced to indoor situations by using the lab available platform consisting in a differential driven mobile robot

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields