A motion planning algorithm is presented for formation control of coordinating multi agents engaged in rigid formation keeping and formation reconfiguration. The multi agent system is separated into geometrically equivalent subsystems for distributed control. The proposed motion planning algorithm generates reference trajectories for each of these subsystems in real-time for online, distributed...

In these notes we formally describe the functionality of Calculating Valid Domains from the BDD representing the solution space of valid configurations. The formalization is largely based on the CLab [1] configuration framework.

The idea of evolving novel rather than fit solutions has recently been offered as a way to automatically discover the kind of complex solutions that exhibit truly intelligent behavior. So far, novelty search has only been studied in the context of problems where the number of possible “different” solutions has been limited. In this paper, we show, using a task with a much larger solution space,...

Sampling in the space of controls or actions is a well-established method for ensuring feasible local motion plans. However, as mobile robots advance in performance and competence in complex environments, this classical motion-planning technique ceases to be effective. When environmental constraints severely limit the space of acceptable motions or when global motion planning expresses strong p...

Currently available data demonstrate the need for balance prostheses. Recent technological and biomedical advances now make it feasible to produce miniaturized sensors, signal processors, electric stimulators, and stimulating electrodes that are roughly analogous to a cochlear implant but which provide information about self motion, instead of sound. Many areas require work before balance prost...

On-orbit rescuing uncontrolled spinning satellite (USS) using space robot is a great challenge for future space service. This paper mainly present a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards U...

A new motion estimation scheme, Discrete-Cosine/SineTransform Based Motion Estimation (DXT-ME) utilizing the principle of orthogonality of cosine and sine functions to estimate, in the transform domain, displacements from the motion information contained in the pseudo-phases of the images of moving objects, is proposed. The computational complexity of this method is only O ( N 2 ) + O d c t for...

Introduction: Cardiac diffusion tensor imaging (DTI) [1-3] is increasingly used to characterize myocardial microstructure and myofiber orientation in both normal and diseased hearts. Clinical applications of the technique in humans have been made feasible by employing either STEAM [4] or bipolar diffusion encoding [5] in conjunction with acquisition during the quiescent phase of the cardiac cyc...

Dexterous physical interactions with virtual creatures are important to bring the fun of playing with animals into arts and entertainment. For reality of interaction, virtual creatures need to react to highly varied user inputs in a variety of ways according to physical and psychological laws. We propose constructing virtual creatures using a physical simulator, sensor/attention models, and phy...

Sampling in the space of controls or actions is a well-established method for ensuring feasible local motion plans. However, as mobile robots advance in performance and competence in complex outdoor environments, this classical motion planning technique ceases to be effective. When environmental constraints severely limit the space of acceptable motions or when global motion planning expresses ...