A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known (see [2]) that such systems cannot be stabilized to a point using smooth static-state feedback. In this note, we suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired (nominal) feasible trajectory, the note gives an...

Deceleration rates have considerable influence on the fuel economy of hybrid electric vehicles. Given the vehicle characteristics and actual/measured operating conditions, as well as upcoming route information, optimal velocity trajectories can be constructed that maximize energy recovery. To support the driver in tracking of the energy optimal velocity trajectory, automatic cruise control is a...

An increasing number of mobile devices are capable of automatically sensing and recording rich information about the surrounding environment. Spatial locations of such data can help to better learn about the environment. In this work, we address the problem of identifying the locations visited by a mobile device as it moves within an indoor environment. We focus on devices equipped with odometr...

Software release development process, that we refer to as “release trajectory”, involves development activities that are usually sorted in different categories, such as incorporating new features, improving software, or fixing bugs, and associated to “issues”. Release trajectory management is a difficult and crucial task. Managers must be aware of every aspect of the development process for man...

Trajectory pattern mining is becoming increasingly popular because of the development of ubiquitous computing technology. Trajectory data contain abundant semantic and geographic information that reflects people’s movement patterns, i.e., who is performing a certain type of activity when and where. However, the variety and complexity of people’s movement activity and the large size of trajector...

Trajectory preserving and lifting maps have been implicitly used in many recursive or hierarchical control design techniques. Well known systems theoretic concepts such as differential flatness or more recent ones such as simulation and bisimulation can be also understood through the trajectory lifting maps they define. In this paper we initiate a study of trajectory preserving and lifting maps...

A key point in human movement analysis is measuring the trajectory of a person’s center of mass (CoM). For outdoor applications, differential Global Navigation Satellite Systems (GNSS) can be used for tracking persons since they allow measuring the trajectory and speed of the GNSS antenna with centimeter accuracy. However, the antenna cannot be placed exactly at the person’s CoM, but rather on ...

Recently, it has become possible to collect large amounts of trajectory data of moving objects by using sensor networks. To manage such trajectory data, we have developed a distributed trajectory database composed of a server and many sensor nodes deployed over wide areas. The server manages the trajectory data of each moving object by using indices. However, since each sensor node cannot send ...

in this study, the problem of determining an optimal trajectory of a nonlinear injection into orbit problem with minimum time was investigated. the method was based on orthogonal polynomial approximation. this method consists of reducing the optimal control problem to a system of algebraic equations by expanding the state and control vector as chebyshev or legendre polynomials with undetermined...

lunar and mars landing is a crucial part of any exploration mission. its importance is manifested by the considerable interest in the past couple of decades. solution of lunar descent can be either numerical or analytical. numerical solutions are iterative and computationally demanding and some of them might not be suitable for on-board implementation. on the other hand, analytical solutions ar...