We examine the problem of optimizing the reallocation and execution of divisible load originating in merent amounts at the sites of an interconnected set of heterogeneous processors characterized by their load computing speeds and II0 speeds. Each processor imposes, a priori, a hard deadline on its allocated task completion. The objective of load retasking and redistribution, which is implement...

Planning for multirobot manipulation in dense clutter becomes particularly challenging as the motion of the manipulated object causes the connectivity of the robots’ free space to change. This paper introduces a data structure, the Feasible Transition Graph (FTG), and algorithms that solve such complex motion planning problems. We define an equivalence relation over object configurations based ...

Humanoid robots have the potential to become a part of everyday life as their hardware and software challenges are being solved. In this paper we present a system that gets as input a motion trajectory in the form of motion capture data, and produces a controller that controls a humanoid robot in real-time to achieve a motion trajectory that is similar to the input motion data. The controller e...

in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

This paper describes a STLTSA-based framework to analyze and decompose human motion for synthesis. In this work, we mainly intend to extend a manifold learning method, local tangent space alignment, to a spatio–temporal version for manifold analysis and offer an effective method of estimating the intrinsic dimensionality of motion data. Based on an assumption that a long sequence of motion is c...

To simplify the problem of estimating the motion parameters, in this paper, based on the properties of human motion perception we present a feasible approach, which can estimate the motion direction and the motion extension for a linear motion blurred image. Two main parts are developed in our approach. Hough transform is first used to detect the angle (i.e., motion direction) of a given linear...

A computer vision method is presented to determine the 3D spatial locations of joints or feature points of a human body from a film recording the human motion during walking. The proposed method first applies the geometric projection theory to obtain a set of feasible postures from a single image, then it makes use of the given dimensions of the human stick figure, physiological and motion-spec...

For conceptual design of electromechanical motion systems, an assessment method is formulated that supports the design of a feasible reference path generator, control system, and electromechanical plant with appropriate sensor locations, in an integrated way. This method is based on a classification of standard transfer functions, plant models, and closed-loop systems. The assessment method can...

To accomplish a task an autonomous robot must break this task into “primitive” subtasks and order them to satisfy precedence constraints. Each subtask requires performing a motion. The existence of a feasible trajectory is an additional precondition for the subtask, but a very expensive one to test. Probabilistic RoadMaps (PRM) are an effective approach to plan feasible trajectories when these ...

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered...