We propose a method for trajectory classification based on trajectory voting in Moving Object Databases (MOD). Trajectory voting is performed based on local trajectory similarity. This is a relatively new topic in the spatial and spatiotemporal database literature with a variety of applications like trajectory summarization, classification, searching and retrieval. In this work, we have used mo...

A singularity-robust trajectory generator is presented that, given a prescribed manipulator path and corresponding kinematic solution, computes a feasible trajectory in the presence of kinematic singularities. The resulting trajectory is close to minimum time, subject to individual bounds on joint velocities and accelerations, and follows the path with precision. The algorithm has complexity O(...

In this paper, we present a new solution to build a reactive trajectory controller for object manipulation in Human Robot Interaction (HRI) context. Using an online trajectory generator, the controller build a time-optimal trajectory from the actual state to a target situation every control cycle. A human aware motion planner provides a trajectory for the robot to follow or a point to reach. Th...

The theory of actual causality, defined by Halpern and Pearl, and its quantitative measure – the degree of responsibility – was shown to be extremely useful in various areas of computer science due to a good match between the results it produces and our intuition. In this paper, I describe the applications of causality to formal verification, namely, explanation of counter-examples, refinement ...

This paper shows how the treatment of trajectory constraints in some recent software packages like the Nonlinear Trajectory Generation (NTG) can be improved by taking into account some structural properties of the initial optimal control problem that are lost in the transformation of the problem into an optimization one. The proposed method leads to a smaller complexity and a better accuracy.

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a representation of the effects of a task and (2) find an optimal trajectory that will reproduce these effects in a new environment. We represent robot skills in terms of ...

In this paper, the waveforms measured by the strain gauge in the tapping test on a number of healthy subjects and patients with Parkinson’s disease are analyzed with the objective of reaching a quantitatively evaluation of the associated symptom. It has been observed that the waveform of a patient with Parkinson’s disease becomes more irregular as the symptom is getting more serious, while the ...

We’ve been developing a sensor that can acquire positional data. Recently, a position-based big data creation is easy task and trajectory analysis is the highest priority for ”position-based service”. Traffic congestion, marketing mining, and pattern analysis are the one of the examples in trajectory analysis field. In this paper, we propose the trajectory analysis approach for clustering and a...

Passive velocity field control (PVFC) is a control methodology for fully actuated mechanical systems, in which the motion task is specified behaviorally in terms of a velocity field (as opposed to a timed trajectory), and the closed-loop system is passive with respect to a supply rate given by the environment power input. It is intended for safety critical and coordination intensive application...