The main contribution of this paper is a novel method for planning globally optimal trajectories dynamical systems subject to polygonal constraints. proposed hybrid trajectory approach, which combines graph search, i.e. discrete roadmap method, with convex optimization, complete path method. Contrary past approaches, have focused on using simple obstacle approximations, or sub-optimal spatial d...

This paper shows that the HMM whose state output vector includes static and dynamic feature parameters can be reformulated as a trajectory model by imposing the explicit relationship between the static and dynamic features. The derived model, named trajectory HMM, can alleviate the limitations of HMMs: i) constant statistics within an HMM state and ii) independence assumption of state output pr...

This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...

A novel type of Ant Colony Algorithm (ACA) for the globally optimal trajectory planning of Unmanned Aerial Vehicle (UAV) is proposed in this paper. The parallelism and positive feedback of ACA is feasible in UAV trajectory planning under complex environments, but the basic ACA model has the limitation of stagnation, and easy to fall into local optimum. Hybrid improvement strategies for the basi...

The widespread application of mobile positioning devices has generated big trajectory data. Existing disk-based trajectory management systems cannot provide scalable and low latency query services any more. In view of that, we present TrajSpark, a distributed in-memory system to consistently offer efficient management of trajectory data. TrajSpark introduces a new abstraction called IndexTRDD t...

This paper presents a novel learning feed-forward controller design approach for accurate robotics trajectory tracking. Based on the joint nonlinear dynamics characteristics, a model-free learning algorithm based on Support Vector Machine (SVM) is implemented for friction model identification. The experimental results verified that SVM based learning feed-forward controller is a good approach f...

ABSTRACT: Most of the trajectory planning based on robot dynamics and kinematics start from the joint space, can not guarantee the robot end track corresponding relationship. To solve the above problem, the method of trajectory planning is proposed and the optimization algorithm is used to solve the optimization trajectory. Taking the SCARA robot as an example, the trajectory of the end traject...

Excellent physical performance of soccer players is inevitable for the success of a team. Despite of this, a large-scale, quantitative analysis of the maximal speed of the players is missing due to the sensitive nature of trajectory datasets. We propose a novel method to derive the in-game speed profile of soccer players from event-based datasets, which are widely accessible. We show that eight...