Computerized route planning tools are widely used today by travelers all around the globe, while 3D terrain and urban models are becoming increasingly elaborate and abundant. This makes it feasible to generate a virtual 3D flyby along a planned route. Such a flyby may be useful, either as a preview of the trip, or as an after-the-fact visual summary. However, a naively generated preview is like...

Assistive mobile robots that can navigate autonomously can greatly benefit people with mobility impairments. Several important problems need to be addressed for developing such an autonomous robot. This research focuses on one such problem, namely, motion planning in small-scale space. Small-scale space is space within the robot’s sensory horizon. Motion planning consists of finding a time-para...

We develop a theory of first passage processes in stochastic nonequilibrium systems of birth-death type using two closely related epidemiological models as examples. Our method employs the probability generating function technique in conjunction with the eikonal approximation. In this way the problem is reduced to finding the optimal path to extinction: a heteroclinic trajectory of an effective...

in this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. the designed controller includes two parts: a position controller and an attitude controller. the attitude controller is designed by using the sliding mode control (smc) method to track the desired pitch and roll angles, which are the output of position controll...

The problem associated with trajectory generation for a car-like robot (CLR) moving from an initial configuration to any final configuration is studied in this paper. The aim of our research is to achieve energy-optimal solution to the problem of trajectory generation. Based on bang-bang control theory, the necessary condition for energy-optimal trajectory generation is studied. Based on steeri...

This paper presents an inverse simulation methodology based on numerical optimization. The methodology is applied to a simplified version of the slalom maneuver in the ADS-33D helicopter handling qualities specifications. The inverse simulation is formulated as an optimization problem with trajectory and dynamic constraints, pilot inputs as design variables, and an objective function that depen...

A quasi-hamiltonian path in a semicomplete multipartite digraph D is a path which visits each maximal independent set (also called a partite set) of D at least once. This is a generalization of a hamiltonian path in a tournament. In this paper we investigate the complexity of finding a quasi-hamiltonian path, in a given semicomplete multipartite digraph, from a prescribed vertex x to a prescrib...

This paper presents a sequential optimization technique for the design of optimal trajectories while minimizing a cost index subject to system dynamics, path and actuation constraints. A novel coordinate transformation is introduced to cast the non-convex trajectory generation problem as a convex optimization problem. A sequential linear programming approach is discussed to solve the resulting ...

in this paper an approach based on evolutionary algorithms to find pareto optimal pair of state and control for multi-objective optimal control problems (moocp)'s is introduced‎. ‎in this approach‎, ‎first a discretized form of the time-control space is considered and then‎, ‎a piecewise linear control and a piecewise linear trajectory are obtained from the discretized time-control space using ...

This paper presents a motion planning method for mobile manipulators for which the base locomotion is less precise than the manipulator control. In such a case, it is advisable to move the base to discrete poses from which the manipulator can be deployed to cover a prescribed trajectory. The proposed method finds base poses that not only cover the trajectory but also meet constraints on a measu...