In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the mathematical foundation of our framework. The motion of a mobile robot that transports a human should be comfortable and customizable. We identify several properties t...

We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem of generating optimal motion splines. There has been little work in trajectory generation for vehicles with all-wheel steering capability compared to the Ackermann, differential-drive, or omnidirectional mobility syst...

This paper presents a novel data-driven expressive speech animation synthesis system with phoneme-level controls. This system is based on a pre-recorded facial motion capture database, where an actress was directed to recite a predesigned corpus with four facial expressions (neutral, happiness, anger and sadness). Given new phoneme-aligned expressive speech and its emotion modifiers as inputs, ...

This work introduces a new model-based approach towards the 3-D tracking of human motion. We suggest a parametric body model, with both coarse and fine resolution levels, characterized by hard and soft kinematic constraints. The hard constraints place physical limitations on possible model configurations while the soft constraints take the form of a priori, stochastic distributions learned from...

We present an algorithm for creating animation by keyframing, stylistic sequencing, random sampling, or by a combination of these methods. We first “learn” a motion model from existing animation data (such as motion capture), and optionally label specific frames as corresponding to specific “styles.” The system can then generate a new motion in the style of the training data, but matching the p...

Many CSPs can be effectively represented and efficiently solved using matrix models, in which the matrices may have symmetry between their rows and/or columns. Eliminating all such symmetry can be very costly as there are in general exponentially many symmetries. Cost-effective methods have been proposed to break much of the symmetry, if not all. In this paper, we continue with this line of res...

We review research on the ̄uency heuristic as a basis for the subjective experience of familiarity. Then, we explore the links between the construct of ̄uency and the automatic versus consciously controlled memory processes that are estimated using the process dissociation procedure, and the phenomenological experiences studied using ``Remember'' and ``Know'' judgements. Although the ̄uency tha...