We consider the problem of trajectory prediction, where a trajectory is an ordered sequence of location visits and corresponding timestamps. The problem arises when an agent makes sequential decisions to visit a set of spatial locations of interest. Each location bears a stochastic utility and the agent has a limited budget to spend. Given the agent’s observed partial trajectory, our goal is to...

This work is concentrated to optimize the trajectory for planer two-link robot. The whole travel of the trajectory is divided into two parts, which consists of fourth order polynomial trajectory for the one part and fifth order trajectory for the second part. There are many optimization algorithms, which can be implemented to solve such problems. Evolutionary algorithms are also tried by many r...

In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...

We explore the combined planning of pregrasp manipulation and transport tasks. We formulate this problem as a simultaneous optimization of pregrasp and transport trajectories to minimize overall cost. Next, we reduce this simultaneous optimization problem to an optimization of the transport trajectory with start-point costs and demonstrate how to use physically realistic planners to compute the...

Optimization is often difficult to apply to robots due to the presence of modeling errors, which may cause constraints to be violated during execution on a real robot. This work presents a method to optimize trajectories with large modeling errors using a combination of robust optimization and parameter learning. In particular it considers the problem of computing a dynamically-feasible traject...

Trajectory planning is the basis of robot control. A robot with seven degrees of freedom is the object of study. The shortest time is taken as the trajectory optimization target. The joint trajectory planning is carried out by using B-spline curve. Under the constraint of kinematics parameters, the time optimization of the motion trajectory is realized by using the improved genetic algorithm. T...

Aiming at the sensitivity to initial value and long computation time spent on iteration and programming the reference trajectory in reentry trajectory optimization for hypersonic vehicles, we propose a trajectory programming algorithm, which is based on drag acceleration profile. First of all, models of motion in reentry process of vehicle are built and an independent variable is introduced for...

Determination of the borehole and fracture initiation positions is the main aim of a borehole stability analysis. A wellbore trajectory optimization with the help of the mud pressure may be unreasonable since the mud pressure can only reflect the degree of difficulty for the initial damage to occur at the wellbore rather than the extent of the wellbore damage. In this work, we investigate...

Trajectory optimization is a crucial process during the planning phase of a spacecraft landing mission. Once a trajectory is determined, guidance algorithms are created to guide the vehicle along the given trajectory. Because fuel mass is a major driver of the total vehicle mass, and thus mission cost, the objective of most guidance algorithms is to minimize the required fuel consumption. Most ...