Trajectory generation of many successful biped robots is based on the zero moment point (ZMP) criterion. Combining this criterion with a simplified model of the robot dynamics allows for an elegant formulation of the equations of motion of the robot. As solving these equations as an initial value problem does generally not lead to trajectories that allow for stable walking, the desired robot st...

This paper proposes a method for collision avoidance of a mobile manipulator. The method deals with the problem of driving a mobile manipulator from a starting configuration to a goal configuration avoiding obstacles. It modifies planned trajectory at every sampling time using elastic force and potential field force. It puts way poses throughout a planned trajectory, and the trajectory modifica...

It is well recognized that human movement in the spatial and temporal dimensions has direct influence on disease transmission(1-3). An infectious disease typically spreads via contact between infected and susceptible individuals in their overlapped activity spaces. Therefore, daily mobility-activity information can be used as an indicator to measure exposures to risk factors of infection. Howev...

Trajectory clustering has played a crucial role in data analysis since it reveals underlying trends of moving objects. Due to their sequential nature, trajectory data are often received incrementally, e.g., continuous new points reported by GPS system. However, since existing trajectory clustering algorithms are developed for static datasets, they are not suitable for incremental clustering wit...

This paper is concerned with the problem of the iterative learning control with current cycle feedback for a class of non-linear systems with well-defined relative degree. The tracking error caused by a non-zero initial shift is detected as extended D-type learning algorithm is applied. The defect is overcome by adding terms including the output error, its derivatives as well as integrals. Asym...

This paper is concerned with automated classification of Combinatorial Optimization Problem instances for instance-specific parameter tuning purpose. We propose the CluPaTra Framework, a generic approach to CLUster instances based on similar PAtterns according to search TRAjectories and apply it on parameter tuning. The key idea is to use the search trajectory as a generic feature for clusterin...

I study a model of dynamic policy making in which citizens do not have complete knowledge of how policies are mapped into outcomes. They learn about the mapping through repeated elections as policies are implemented and outcomes observed. I characterize for this environment the policy trajectory with impatient voters. I find that through experimentation good policies are frequently found. Howev...

This paper studies a one-shot inventory replenishment problem with dynamic pricing. The customer arrival rate is assumed to follow a geometric Brownian motion. Homogeneous customers have an isoelastic demand function and do not behave strategically. We find a closed-form optimal pricing policy, which utilizes current demand information. Under this pricing policy the inventory trajectory is dete...

This paper describes a method for melody detection in polyphonic musical signals. Our approach starts by obtaining a set of pitch candidates for each time frame, with recourse to an auditory model. Trajectories of the most salient pitches are then constructed. Next, note candidates are obtained by trajectory segmentation (in terms of frequency and pitch salience variations). Too short, low-sali...