| This paper aims at studying the trajectory planning for a car| i.e. a non holonomic vehicle whose turning radius is lower bounded|in a static and structured world. As for the structure of the world, we assume the existence of natural lanes within which the vehicle is able to move. The contribution of this paper is a smooth trajectory planner which, when given the polygonal line S representing...

BACKGROUND Step kinematic variability has been characterized during gait using spatial and temporal kinematic characteristics. However, people can adopt different trajectory paths both between individuals and even within individuals at different speeds. Single point measures such as minimum toe clearance (MTC) and step length (SL) do not necessarily account for the multiple paths that the foot ...

We study the problem of converting a trajectory tracking controller to a path tracking controller for a nonlinear non-minimum phase longitudinal aircraft model. The solution of the trajectory tracking problem is based on the requirement that the aircraft follows a given time parameterized trajectory in inertial frame. In this paper we introduce an alternative nonlinear control design approach c...

Average Escaping Time Estimation Considering the following situation, a microcell within a given domain can not move by itself, it can only moving follow the flows of the domain, suppose the region is two-dimensional and given motion of this movement follows from normal distribution, then we immediately see the movement of the cell follows a Brownian Motion trajectory as we discuss before. But ...

in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that can take fully advantage of these rules to better solve tasks such as target tracking or trajectory forecasting, we need to have access to better data in the ...

In this paper, we propose an efficient signature-based indexing scheme for efficiently dealing with the trajectories of current moving objects on road networks. We show that our indexing scheme achieves much better trajectory retrieval performance than the existing trajectory indexing schemes, such as TB-tree, FNR-tree and MON-tree.

In recent years, many emerging database applications deal with large sets of continuously moving data objects. Since no computer system can commit continuously occurring infinitesimal changes to the database, related data management techniques view a moving object’s trajectory as a sequence of discretely reported spatiotemporal points. For each pair of consecutive committed trajectory points, a...

In this paper stabilization of switched differential algebraic equations is considered, where Dirac impulses in both the input and state trajectory are to be avoided during process. First it shown that stabilizability a DAE existence impulse-free solutions merely necessary conditions for stabilizability. Then sufficient given, which motivate definition (impulse-free) interval-stabilization on f...

A methodology for safety verification using barrier certificates has been proposed recently. Conditions that must be satisfied by a barrier certificate can be formulated as a convex program, and the feasibility of the program implies system safety, in the sense that there is no trajectory starting from a given set of initial states that reaches a given unsafe region. The dual of this problem, i...