We propose a hierarchical design framework to automatically synthesize coordination schemes and control policies for cooperative multiagent systems to fulfill formal performance requirements, by associating a bottom-up reactive motion controller with a top-down mission plan. On one hand, starting from a global mission that is specified as a regular language over all the agents’ mission capabili...

We shall discuss several situations in which it is possible to extract from a proof, be it a proof in a first-order theory or a propositional proof, some feasible computational information about the theorem being proved. This includes extracting feasible algorithms, deterministic or interactive, for witnessing an existential quantifier, a uniform family of short propositional proofs of instance...

Conventional tracking solutions are not feasible in handling abrupt motion as they are based on smooth motion assumption or constrained motion model; where the motion is often governed by a fixed Gaussian distribution. Abrupt motion however, is not subjected to motion continuity and smoothness. To assuage this, we propose a novel abrupt motion tracker that is based on swarm intelligence the SwA...

BACKGROUND Intrafractional motion results in local over- and under-dosage in particle therapy with a scanned beam. Scanned beam delivery offers the possibility to compensate target motion by tracking with the treatment beam. METHODS Lateral motion components were compensated directly with the beam scanning system by adapting nominal beam positions according to the target motion. Longitudinal ...

We present an approach to the problem of mobile robot motion planning in arbitrary cost fields subject to differential constraints. Given a model of vehicle maneuverability, a trajectory generator solves the two point boundary value problem of connecting two points in state space with a feasible motion. We use this capacity to compute a control set which connects any state to its reachable neig...

This paper proposes motion prediction in single still images by learning it from a set of videos. The building assumption is that similar motion is characterized by similar appearance. The proposed method learns local motion patterns given a specific appearance and adds the predicted motion in a number of applications. This work (i) introduces a novel method to predict motion from appearance in...