In this paper a new model-based optimizing controller for a set of nonlinear systems is proposed. The nonlinear model set is based on a convex combination of two bounding linear models. An optimal control sequence is computed for each of the two bounding models. The proposed control algorithm is based on a convex combination of the two control sequences. A novel feature in these two optimizatio...

The management of geometric objects is a prime example of an application where efficiency is the bottleneck; this bottleneck cannot be eliminated without using suitable access structures. The most popular approach for handling complex spatial objects in spatial access methods is to use their minimum bounding boxes as a geometric key. Obviously , the rough approximation by bounding boxes provide...

The attractors of Iterated Function Systems in Euclidean space IFS fractals have been the subject of great interest for their ability to visually model a wide range of natural phenomena. Indeed computer-generated plants are often modeled using 3D IFS fractals, and thus their extent in virtual space is a fundamental question, whether for collision detection or ray tracing. A great variety of alg...

In this paper we present an algorithm for 3-D orthogonal drawing of arbitrary degree n-vertex m-edge multigraphs with O(m 2 = p n) bounding box volume and 6 bends per edge route. This is the smallest known bound on the bounding box volume of 3-D orthogonal multigraph drawings. We continue the study of the tradeoo between bounding box volume and the number of bends in orthogonal graph drawings t...

In this paper, we present a new approach to conservative bounding of displaced Bézier patches. These surfaces are expected to be a common use case for tessellation in interactive and real-time rendering. Our algorithm combines efficient normal bounding techniques, min-max mipmap hierarchies and oriented bounding boxes. This results in substantially faster convergence for the bounding volumes of...

There are many tracking methods been proposed, using different features and algorithms, but none of them can track object correctly all the time. In this paper, we explore the idea of combining a crowd of trackers, and propose a crowdsourcing tracking method. We model the problem under the Sequential Monte Carlo framework, where we treat different trackers outputs, the bounding boxes, as weak o...

Stochastic bounds are a valuable tool for analysing large Markov chains. If the chain is too large to solve, we can construct upper and lower bounding chains that are easier to solve, and whose steady state solutions will bound that of the original chain. In [Fourneau et al, 2004], an algorithm is presented to construct lumpable bounding chains, which can be aggregated and solved. In a stochast...

Safeguarding is a crucial need for manipulator operations on planetary rovers. At the same time, the computing environment on a Mars rover is extremely limited, which necessitates a highly efficient collision checking algorithm. We present such an algorithm that uses the Oriented Bounding Box (OBB) and a new primitive called the Oriented Bounding Prism (OBP) to detect potential selfcollisions a...

Distance (upper)-bounding (DUB) allows a verifier to know whether a proving party is located within a certain distance bound. DUB protocols have many applications in secure authentication and location based services. We consider the dual problem of distance lower bounding (DLB), where the prover proves it is outside a distance bound to the verifier. We motivate this problem through a number of ...

A novel tracking algorithm that can track a highly non-rigid target robustly is proposed using a new bounding box representation called the Double Bounding Box (DBB). In the DBB, a target is described by the combination of the Inner Bounding Box (IBB) and the Outer Bounding Box (OBB). Then our objective of visual tracking is changed to find the IBB and OBB instead of a single bounding box, wher...