Many compelling applications would become feasible if novice users had the ability to synthesize high quality human motion based only on a simple sketch and a few easily specified constraints. Motion graphs and their variations have proven to be a powerful tool for synthesizing human motion when only a rough sketch is given. Motion graphs are simple to implement, and the synthesis can be fully ...

one of the debates concerning concepts of “medial motion” and “traversal motion” is the question of which of these two concepts of motion corresponds to motion in the corporeal world. in the present article we intend to employ the language of mathematics to present a model for each of these two concepts to study the above mentioned problem. as a result, medial motion represents a covering funct...

It is important to minimize the energy consumption of autonomous ground vehicles (AGVs) deployed in real world missions. One of the ways that this can be accomplished is to choose the vehicle’s motion to minimize the mechanical and electrical energy usage required by the vehicle’s motion. This paper considers energy efficient motion planning for skid-steered AGVs, an important and large class o...

In this paper we investigate Multi-Objective Integer Linear Programming (MOILP) problems with unbounded feasible region and introduce recession direction for MOILP problems. Then we present necessary and sufficient conditions to have unbounded feasible region and infinite optimal values for objective functions of MOILP problems. Finally we present some examples with unbounded feasible region and fi...

In many image processing contexts there is a requirement for some form of motion estimation. A number of strategies exist, differing in the accuracy and granularity of the motion estimate and in their computational requirements. The simplest and most coarse-grained scheme is 'block' motion estimation, where the current frame is divided into blocks of pixels and for each block an estimate of its...

This paper presents the design and implementation of a singularity-free tracking algorithm for robot manipulators using a hybrid system approach. A hybrid robot motion controller is designed to ensure feasible robot motion in the neighborhood of kinematic singularities. The hybrid control system has a two-layered hierarchical structure, a discrete layer and a continuous layer. The robot workspa...

Autonomous collision avoidance in vehicles requires an accurate seperation of obstacles from the background, particularly near the focus of expansion. In this paper, we present a technique for fast segmentation of stationary obstacles from video recorded by a single camera that is installed in a moving vehicle. The input image is divided into three motion segments consisting of the ground plane...

This paper presents a novel and feasible prediction procedure for ship motion in the presence of uncertain tendency of ship motion dynamic variations and stochastic sea state disturbances. An appropriate model aiming to feature the characteristics of the dynamic relationship between an observer and a ship deck is constructed, from which an initial algorithm is implemented. The optimal system or...

A GA-based fuzzy controller design method is proposed for a two-wheeled mobile robot to independently control two velocities of its left-wheeled motor and right-wheeled motor so that the controlled robot can move fast and efficiently to the desired position. First, the kinematics model of the considered two-wheeled robot is described and a 4-input-and-2-output motion fuzzy control structure wit...

This paper describes a novel design of exploration vehicle, ACV, and the scheme of motion control and path planning using the virtual prototyping system. ACV possesses the high local mobility and obstacle crossing ability due to the design of four independent drives and the active rock arms. An integrated design environment is established using ADAMS and Matlab/Simulink to simulate the vehicle ...