Sequence trajectory generation for garment handling systems

Collision Handling for Interactive Garment Simulation

This paper deals with real-time interactive garment simulation, and focuses specifically on collision handling between a character and garments. Because simulation speed must be kept over a certain limit in interactive garment simulation, regardless of the speed or type of a character’s motion, a rapid and stable collision handling method is required. For this reason, we approximate the shape o...

Flat systems, equivalence and trajectory generation

2 Equivalence and flatness 6 2.1 Control systems as infinite dimensional vector fields . . . . . . . 6 2.2 Equivalence of systems . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3 Differential Flatness . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.4 Application to motion planning . . . . . . . . . . . . . . . . . . . 13 2.5 Motion planning with singularities . . . . . . . . . . . ....

Flatness Based Trajectory Generation of Quantum Systems

A two-states quantum system with one control is proved to be flat. This provides a simple procedure to design smooth open-loop controls that steer in finite time from one eigen-state to the other one. A three-states quantum system with one control is not flat in general. Following the Rabi oscillations used by physicists to control stimulated transition, we associate to this system an averaged ...

Hierarchical Trajectory Generation for a Class of Nonlinear Systems

Trajectory generation and motion planning for nonlinear control systems is an important and difficult problem. In this paper, we provide a constructive method for hierarchical trajectory generation and hierarchical motion planning. The approach is based on the recent notion of φ-related control systems. Given a control affine system satisfying certain assumptions, we project the trajectory plan...

Real-Time Trajectory Generation for Autonomous Nonlinear Flight Systems