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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.

Detecting Abnormal Behaviors of Small Flying Robots for Automatic Trajectory Control