An optimal motion planning scheme using wavelet approximation is proposed for an underactuated spacecraft. The motion planning of an underactuated spacecraft can be formulated as an optimal control of a drift-free system. A cost functional is used to incorporate the control energy and the final ...
1A1-C01 Stepping Motion Planning of Humanoid Robots Based on an Optimal Control of Inverted Pendulum In this paper, we propose a step-out motion planning to stop robot movements from arbitrary positoin and velocity of the center of mass (COG). This method ... M Oishi,T Sugihara,Y Nakamura...
Summary: We present an approximation algorithm for solving the following optimal motion planning problem: Given a planar space composed by triangular regions, each of which is associated with a positive unit weight, and two points $s$ an... J Reif,Z Sun 被引量: 71发表: 2000年 Approximate ...
Pareto Optimal Control for Natural and Supernatural Motions Optimization is a natural tool for designing natural motion control strategies. However, optimal motions can be expensive to compute. Furthermore, we are o... S Agrawal,VDP Michiel - ACM 被引量: 11发表: 2013年 Development of antibiotic...
Provably-good approximation algorithms for optimal kinodynamic robot motion plans / The basic idea behind the algorithms is to reduce the trajectory planning problem to a shortest-path problem on a polynomial-sized reachability graph embedded in the robot state space. These graphs are generated by con...
An optimal algorithm for approximate nearest neighbor searching in fixed dimensions J. Assoc. Comput. Mach., 45 (1998), pp. 891-923 Google Scholar [4] C.A. Duncan, M.T. Goodrich, S. Kobourov Balanced aspect ratio trees: combining the advantages of k–d trees and octrees Proc. of th...
We derive optimal steering coefficients for Gabor filters and evaluate the accuracy of the approximative orientation steering numerically. Gabo... I Kalliomäki,J Lampinen - Scandinavian Conference on Image Analysis 被引量: 0发表: 2005年 D.: Steerable Part Models We describe a method for learning...
DTW is a method that calculates an optimal match between two time series, which gives the shortest summed distance among all the pairs of the data points in each time series data. Therefore, if the two time series have totally different patterns from each other, then the summed distance can...
An optimal motion planning scheme using wavelet approximation is proposed for an underactuated spacecraft. The motion planning of an underactuated spacecraft can be formulated as an optimal control of a drift-free system. A cost functional is used to incorporate the control energy an...
The optimal control scheme of the system proposed is studied, and a genetic algorithm for computing approximate optimal control of the system proposed is developed. The optimal motion planning approach proposed above possesses the advantages that it can obtain the desired angles of the base's ...