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...

3 Zusammenfassung 4 Acknowledgements 5 Table of

Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel strategy to address the door passing issue by dynamically generating the Bézier curve based trajectory. It consists of door finding, optimization based trajectory generation and tracking control, which are executed repeatedly to increase the ability of passing the door and improve the performance. Whe...

We propose a method for learning skills by learning kinesthetic skills via trajectory optimization. We recreate demonstrations by optimizing the trajectory to be near the demonstration. We use the trajectory optimizer, TrajOpt to turn distance metrics, the Frechet and Hausdorff distances, into cost functions that penalize a trajectory from deviating from the demonstration. Using a few technique...

The problem of optimally designing a trajectory for a space mission is considered in this paper. Actual mission design is a complex, multidisciplinary and multi-objective activity with relevant economic implications. In this paper we will consider some simplified models proposed by the European Space Agency as test problems for global optimization. We show that many trajectory optimization prob...

Airbus, the European aircraft manufacturer has started a program for developing the biggest aircraft ever built: the Airbus A380 which will be able to carry 550 passengers on two decks in the three classes version (Figure 1). The six components of the airplane (two wings, rear, central and front fuselages, and horizontal tail plane) are to be produced in different European cities (Figure 2). Th...

The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly mode are described and compared to each other. The non-singular change of assembly mode is more deeply analysed and discussed in the context of trajectory plan...

Autonomous landing is an essential function for micro air vehicles (MAVs) for many scenarios. We pursue an active perception strategy that enables MAVs with limited onboard sensing and processing capabilities to concurrently assess feasible rooftop landing sites with a vision-based perception system while generating trajectories that balance continued landing site assessment and the requirement...

In video surveillance and sports analysis applications, object trajectories offer the possibility of extracting rich information on the underlying behavior of the moving targets. To this end we introduce an extension of Point Distribution Models (PDM) to analyze the object motion in their spatial, temporal and spatiotemporal dimensions. These trajectory models represent object paths as an avera...