Predicting accurate trajectories with limited intent information is a challenge faced by air traffic management decision support tools in operation today. One such tool is the FAA’s Terminal Proximity Alert system which is intended to assist controllers in maintaining safe separation of arrival aircraft during final approach. In an effort to improve the performance of such tools, two final appr...

This paper presents a trajectory generation method by using a repetitive product pattern as visual encoder for control feedback. A direct, high-speed coupling between camera measurements and local motor control motivates the omission of local motor encoders. By exploiting the repetitive structure of the product and sampling at a high update rate (i.e., 1000 fps), a velocityconstraint polynomial...

This paper presents a novel approach to online, robot-motion planning for multiple movingobjects interception with constant acceleration. The position, velocity and acceleration of the free particles are used as kinematics information. This information is used to obtain the multiple interception trajectory. The polynomial interpolation technique is implemented in a 2D robot with to follow the f...

This work aims at finding optimal trajectory of compassgait biped walking robot in terms of energy consumption and passive dynamic walking. The planar biped model, an inverted double pendulum, has a free hinge at all joints, i.e., the hip and stance ankle. The impulsive external force is exerted on the swing ankle for short initial period. With the equation of motion, the power of external forc...

The polynomial chaos approach for stochastic simulation is applied to trajectory optimization, by conceptually replacing random variables with free variables. Using the gradient method, we generate with low computational cost an accurate parametrization of optimal trajectories.

We consider halo formation in continuous beams oscillating at natural modes by inspecting particle trajectories. Trajectory equations containing field nonlinearities are derived from a weighted polynomial expansion. We then use perturbational techniques to further analyze particle motion.

We consider the discrete optimal problem on networks with integral-time cost criterion by a trajectory when the starting and final states of the system are fixed. A polynomial-time algorithm for solving this problem is proposed.

Overview This brief report presents two gures and shows we have been able to replicate the results established by Godhavn 1]. We followed the backstepping process as developed by God-havn and used it to track a trajectory similar to the example in his paper. Our vehicle had the same parameter values and initial displacement from the desired trajectory. The only signiicant diierence between the ...

This paper is devoted to the study of linear "at outputs for linear controllable time-invariant systems in polynomial matrix form. We characterize the transformations expressing the system variables in terms of a linear "at output and derivatives, called de#ning matrices, as the kernel of a polynomial matrix. An application to trajectory planning is presented, showing the usefulness of the pres...

Humanoid walking trajectory is a complex task, due the high number of degrees of freedom (DOFs) and changes on the mechanical structure during walking. A non-trivial problem in bipedal robot walking is the instability produced by violent transitions between different walk phases. This work presents a trajectory generation algorithm for a biped robot. The algorithm is based on cubic Hermitian po...