(a) (b) Figure 8. (a) The manually created semantic map from the 2015 security deployment. (b) Example human trajectories with lengths close to the average trajectory length of 2.44 m. Also pictured are the manually annotated room regions used for task planning, where the circles indicate the vertices of region polygons that were used to annotate the types of regions in the environment. The yellow regions indicate offices, the dark orange regions indicate meeting rooms, the light orange region is a kitchen, and the red region is a corridor. Blue to green lines indicate direction of movement. Figure 9. Trajectories belonging to three learned clusters in the region at the bottom left of Figure 8 (the direction of motion is red to green). These can be interpreted as two clusters of a desk-approaching activity and one cluster of a desk-leaving activity. 154 * IEEE ROBOTICS & AUTOMATION MAGAZINE * SEPTEMBER 2017