| This paper addresses trajectory planning in a dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like connguration space which is a tool to formulate path planning problems, state-time spa...

Trajectory classification, i.e., model construction for predicting the class labels of moving objects based on their trajectories and other features, has many important, real-world applications. A number of methods have been reported in the literature, but due to using the shapes of whole trajectories for classification, they have limited classification capability when discriminative features a...

An important part of extra-tropical stratosphereto-troposphere transport occurs in association with baroclinic wave breaking and cut-off decay at the tropopause. In the last decade many studies have attempted to estimate stratospheretroposphere exchange (STE) in such synoptic events with various methods, and more recently efforts have been made to inter-compare these methods. These inter-compar...

We present a new SAT-based algorithm for Symbolic Trajectory Evaluation (STE), and compare it to more established SAT-based techniques for STE.

Two frameworks based on Model Predictive Control (MPC) for obstacle avoidance with autonomous vehicles are presented. A given trajectory represents the driver intent. An MPC has to safely avoid obstacles on the road while trying to track the desired trajectory by controlling front steering angle and differential braking. We present two different approaches to this problem. The first approach so...

This paper discusses a design methodology of cooperative trajectory generation for multi-robot systems. The trajectory of achieving cooperative tasks, i.e., with temporal constraints, is constructed hy a nonlinear trajectory generation (NTG) algorithm. Three scenarios of multi-robot tasking are proposed at the cooperative task planning framework. The NTG algorithm is, then, used to generate rea...

This paper considers the real time trajectory generation problem of how to generate, possibly with some delay, a full state space and input trajectory in real time from an output trajectory that is given online, while allowing a tradeoo between stability and performance. The paper proposes two algorithms that solve the real time trajectory generation problem for diierentially at systems with (p...

We consider the problem of trajectory prediction, where a trajectory is an ordered sequence of location visits and corresponding timestamps. The problem arises when an agent makes sequential decisions to visit a set of spatial locations of interest. Each location bears a stochastic utility and the agent has a limited budget to spend. Given the agent’s observed partial trajectory, our goal is to...

A major objective of next generation reusable launch vehicle (RLV) programs includes significant improvements in vehicle safety, reliability, and operational costs. In this paper, trajectory generation on approach/landing (A&L) for RLVs using motion primitives (MPs) and neighboring optimal control (NOC) is discussed. The proposed trajectory generation approach at A&L phase is based on an MP sch...

This paper presents a method for future localization: to predict a set of plausible trajectories of ego-motion given a depth image. We predict paths avoiding obstacles, between objects, even paths turning around a corner into space behind objects. As a byproduct of the predicted trajectories of ego-motion, we discover in the image the empty space occluded by foreground objects. We use no image ...