This paper deals with human presence detection by using a receding horizon estimator based on computer vision results. The visual position estimation problem is formulated into a nonlinear constrained optimization problem in the image plane. A global model combining the behavior of the human motion and the camera model is used to estimate the evolution of the visual features on a past finite ho...

Four characteristic properties of human path planning strategy are course and fine planning, supervised planning, adaptation and robustness, and complexity reduction. These four characteristics are also observed in "model predictive controller" and its modified version, "receding horizon planner". We hypothesize that the human brain performs path planning tasks, literally like a receding horizo...

This paper considers the problem of stabilization of stochastic Linear Parameter Varying (LPV) discrete time systems in the presence of convex state and input constraints. By using a randomization approach, a convex finite horizon optimal control problem is derived, even when the dependence of the system’s matrices on the time-varying parameters is nonlinear. This convex problem can be solved e...