This paper addresses formulation of stabilizability and motion tracking conditions for mechanical systems from the point of view of constraints put on them. We present a new classification of constraints, which includes nonholonomic constraints that arise in both mechanics and control. Based on our classification we develop kinematic and dynamic control models of systems subjected to these cons...

A novel framework based on action recognition feedback for pose reconstruction of articulated human body from monocular images is proposed in this paper. The intrinsic ambiguity caused by perspective projection makes it difficult to accurately recover articulated poses from monocular images. To alleviate such ambiguity, we exploit the high-level motion knowledge as action recognition feedback t...

In this paper, we study the structure from motion problem as a constrained nonlinear least squares problem which minimizes the so called reprojection error subject to all constraints among multiple images. By converting this constrained optimization problem to an unconstrained one, we contend that multilinear constraints, when used for motion and structure estimation, need to be properly normal...

Rational choice when preferences are not required to be transitive and complete has been discussed in the literature for years. In this article transitivity and completeness of the preference relation is also not assumed. It will be shown that nevertheless the existence of a competitive equilibrium can be proven when those properties are replaced by a domination property which allows that there...

We present a comprehensive study of the use of value precedence constraints to break value symmetry. We first give a simple encoding of value precedence into ternary constraints that is both efficient and effective at breaking symmetry. We then extend value precedence to deal with a number of generalizations like wreath value and partial interchangeability. We also show that value precedence is...

This paper deals with the problem of planning and controlling the motion of non holonomic vehicles in a dynamic world. We present a hierarchical system with two main levels: at the higher level, a motion planner determines a coarse motion plan for each controlled vehicle according to the non collision and time optimality criteria; at the lower level, a motion controller distributed between the ...