The doubling or tripling of airspace capacity that will be needed over the next couple of decades is likely to require four-dimensional trajectory assignment (three-dimensional position as a function of time) for appropriately equipped aircraft in high-density airspace. This paper proposes a standard trajectory specification language based on XML, the Extensible Markup Language. Trajectories ar...

This paper presents analysis of extremely simple second-order digital lter. In our analysis we take into account the nonlinearity caused by the overrow eeect. This digital lter corresponds to a nonlinear semidynamical system on the plane depending on two parameters. The symbolic theory for analysing this system is introduced. Several theorems on existence and stability of periodic orbits are gi...

The Algorithm2 for a n-link manipulator movement amidst arbitrary unknown static obstacles for a case when a sensor system supplies information about local neighborhoods of different points in the configuration space is presented. The Algorithm2 guarantees the reaching of a target position in a finite number of steps. The Algorithm2 is reduced to a finite number of calls of a subroutine for pla...

An exact algorithm for a n-link manipulator movement amidst arbitrary unknown static obstacles is presented. The algorithm guarantees the reaching of a target configuration of the manipulator in a finite number of steps. The algorithm is reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm...

A trajectory-based point tracker using chaos evolutionary programming (CEP) algorithm is proposed in this thesis. While motion constraints such as rigidity and small motion which are imposed by previous approaches are liberated, the proposed CEP is proved to be effective for establishing point correspondence between two consecutive frames sampled at a fixed interval. The whole point trajectory ...

Algorithms which guarantee to find globally optimal trajectories by covering a hypervolume of state space become infeasible in high dimensions. We have developed an algorithm which generates locally optimal trajectories without covering a hypervolume which only requires polynomial memory and time. Even though the algorithm does not guarantee a globally optimal trajectory in a deterministic mann...

In the current paper the decoding algorithms for motor-related BCI systems for continuous upper limb trajectory prediction are considered. Two methods for the smooth prediction, namely Sobolev and Polynomial Penalized Multi-Way Partial Least Squares (PLS) regressions, are proposed. The methods are compared to the Multi-Way Partial Least Squares and Kalman Filter approaches. The comparison demon...

This paper presents a new solution to the motion planning problem for nonlinear underactuated vehicles. The approach solves the problem by generating a polynomial curve connecting the desired initial and final positions for the vehicle and then using the curve to estimate the vehicle’s complete configuration along the trajectory. The algorithm introduces an iterative H∞filter to improve upon th...

This paper presents a Delayed Generalized Predictive Controller (DGPC) by internal model for bilateral teleoperation systems in the presence of both communication delays and force feedback. First, the Π-freeness algebraic property of mechanical delayed systems, which presents some similarity with the notion of flatness, is used for the slave system to track a master system reference trajectory;...

In this paper, we propose an approach to automatically compute invariant clusters for semialgebraic hybrid systems. An invariant cluster for an ordinary differential equation (ODE) is a multivariate polynomial invariant g(~u, ~x) = 0, parametric in ~u, which can yield an infinite number of concrete invariants by assigning different values to ~u so that every trajectory of the system can be over...