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Efficient fully dynamic elimination forests with applications to detecting long paths and cycles [article]

Jiehua Chen, Wojciech Czerwiński, Yann Disser, Andreas Emil Feldmann, Danny Hermelin, Wojciech Nadara, Michał Pilipczuk, Marcin Pilipczuk, Manuel Sorge, Bartłomiej Wróblewski, Anna Zych-Pawlewicz
2020 arXiv   pre-print
path on k vertices?  ...  As applications, we design new fully dynamic parameterized data structures for detecting long paths and cycles in general graphs.  ...  a dynamic parameterized data structure.  ... 
arXiv:2006.00571v2 fatcat:lcihlzmjknem7ikywdcph4kg6e

Dynamic Parameterization for Path Following Control

Makoto Kumon, Norihiko Adachi
2008 Asian journal of control  
In this paper, the reference path is defined as a function of the parameter that has dynamics.  ...  Although the contour error is suitable for use in path following, the dynamics of the parameter contain singular points at which the dynamics cannot be defined.  ...  Since the parameter has a dynamics, we call this method Dynamic Parameterization. There have been many studies on methods which use a parameter to represent the reference path.  ... 
doi:10.1111/j.1934-6093.2001.tb00039.x fatcat:avcutxf6enbx7drtvoqp7j6rpi

Path Following for a Class of Underactuated Systems Using Global Parameterization

Adeel Akhtar, Sajid Saleem, Steven Waslander
2020 IEEE Access  
On the other hand, this over-parameterization also leads to uncontrolled internal dynamics, which we prove to be bounded and stable.  ...  On the one hand, this over-parameterization leads to a simple set of differential equations and provides a global non-ambiguous representation of systems as compared to other local or minimal parametric  ...  Although this is an over parameterization of the underlying manifold, this leads to a simple nonlinear dynamic model compared to the dynamics that result from three, four or five-dimensional parameterization  ... 
doi:10.1109/access.2020.2974153 fatcat:mouhmgkz5ve6pe3pe6am5lksdm

Robust and Efficient Kernel Hyperparameter Paths with Guarantees

Joachim Giesen, Sören Laue, Patrick Wieschollek
2014 International Conference on Machine Learning  
Algorithmically, many machine learning tasks boil down to solving parameterized optimization problems.  ...  The choice of the parameter values in these problems can have a significant influence on the statistical performance of the corresponding methods.  ...  hyperparamter kernel path for some data sets and various values for ε for the fixed bias update rule (on the left) and the dynamic bias update rule (on the right).  ... 
dblp:conf/icml/GiesenLW14 fatcat:3we3mx6ll5g5pblwwpgllr4x7m

Time Parameterization of Humanoid-Robot Paths

Wael Suleiman, Fumio Kanehiro, Eiichi Yoshida, Jean-Paul Laumond, André Monin
2010 IEEE Transactions on robotics  
The main contribution in this paper is to show that the time parameterization of a statically stable path to be transformed into a dynamical stable trajectory within the humanoid robot capacities can be  ...  This paper proposes a unified optimization framework to solve the time parameterization problem of humanoid robot paths.  ...  In this scenario, the objective of time parameterization is to transform the initial path into a minimum time and dynamically stable trajectory.  ... 
doi:10.1109/tro.2010.2047531 fatcat:xl5eonaf4zffnk2dqfeu6pqlqa

Time-optimal Path Parameterization for critically dynamic motions of humanoid robots

Quang-Cuong Pham, Yoshihiko Nakamura
2012 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)  
In contrast with a previous approach based on finite differences and iterative optimization to find the optimal path parameterization under ZMP constraints, our Bobrow-based algorithm finds this optimal  ...  We do so by adapting the minimum-time path parameterization under torque constraints algorithm of Bobrow et al. to the case of ZMP constraints.  ...  The path is not dynamically feasible. • Case 2: A α j < A β k . Here the couple (j, k) may define a possible lower bound onṡ. Let r = B β k −B α j A α k −A β j .  ... 
doi:10.1109/humanoids.2012.6651515 dblp:conf/humanoids/PhamN12 fatcat:qyyylifi2zgevk6ei76njazmka

Path Planning of Free-Floating Robot in Cartesian Space Using Direct Kinematics

Wenfu Xu, Bin Liang, Cheng Li, Yangsheng Xu, Wenyi Qiang
2007 International Journal of Advanced Robotic Systems  
Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper.  ...  Simulation results verify the path planning method.  ...  Dynamic singularities are path dependent (Papadopoulos, E. and Dubowsky, S. 1993) . Based on the calculation of PIW (Path Independent Workspaces) and PDW (Path Dependent Workspace), E.  ... 
doi:10.5772/5713 fatcat:jkhylxmbrrfurpjoelckcjujdy

An improved parameterized approach for real time optimal motion planning of AUV moving in dynamic environment

Wenhao Luo, Jun Peng, Jing Wang
2013 2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)  
In particular, the proposed design is based on a family of parameterized trajectories determined by three adjustable parameters, which provides a unified way to reformulate the geometric constraints and  ...  The proposed approach explicitly incorporates both the AUV kinematic and the geometric constraints due to dynamic obstacles and the terrain while rendering the near-shortest path by a performance index  ...  on energy or path length, etc as introduced in [1] .  ... 
doi:10.1109/ram.2013.6758567 dblp:conf/ram/LuoPW13 fatcat:iv6fnh5dqfbpnezgaqo3xfvph4

Time-Optimal Path Tracking via Reachability Analysis [article]

Hung Pham, Quang-Cuong Pham
2018 arXiv   pre-print
However, there is one major difficulty: the path controller might not find any feasible reference trajectory that can be tracked by the tracking controller because of torque bounds.  ...  A simple yet effective approach to this problem is to decompose the controller into two components: (i)~a path controller, which modulates the parameterization of the desired path in an online manner,  ...  The planning problem is to find the Time-Optimal Path Parameterization (TOPP) of a path under kinematic and dynamic bounds.  ... 
arXiv:1709.05101v2 fatcat:j5r2cz3s5ndtlnrtyrz6ydyzci

A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm

Quang-Cuong Pham
2014 IEEE Transactions on robotics  
Finding the Time-Optimal Parameterization of a given Path (TOPP) subject to kinodynamic constraints is an essential component in many robotic theories and applications.  ...  For this, we give a complete solution to the issue of dynamic singularities, which are the main cause of failure in existing implementations.  ...  Nakamura, “Time-optimal path parameterization for critically dynamic motions of humanoid robots,” in IEEE-RAS International Conference on Humanoid Robots, 2012. [21] F. Bullo and K. M.  ... 
doi:10.1109/tro.2014.2351113 fatcat:cfb7l6we45hmbjls6up3k7ljii

Time-scaled coordination of multiple manipulators

S. Akella, Jufeng Peng
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
Previous approaches that considered robot dynamics have typically been restricted to coordinating just two or three manipulators, even when their paths are specified.  ...  By exploiting a fundamental time scaling law for manipulators based on their dynamics, we identify sufficient conditions for collision-free coordination of the robots when the velocity profiles can be  ...  If the problem is further constrained so that the paths of the robots are specified, one obtains a path coordination problem, where the robot dynamics are neglected.  ... 
doi:10.1109/robot.2004.1308769 dblp:conf/icra/AkellaP04 fatcat:yntqg5osvnc3lnzngrtutcou2m

Measuring what matters: A hybrid approach to dynamic programming with treewidth

Eduard Eiben, Robert Ganian, Thekla Hamm, O-joung Kwon
2021 Journal of computer and system sciences (Print)  
We develop a framework for applying treewidth-based dynamic programming on graphs with "hybrid structure", i.e., with parts that may not have small treewidth but instead possess other structural properties  ...  a modulator exists) in time f (k) · n [29].  ...  Cycle parameterized by clique-width. 42:11 To follow partial solutions on each subgraph G t , we consider certain generalizations of path-partitions of subgraphs of G.  ... 
doi:10.1016/j.jcss.2021.04.005 fatcat:hocvwj3iezdclat5ermxqjtlsq

State/Event-Based LTL Model Checking under Parametric Generalized Fairness [chapter]

Kyungmin Bae, José Meseguer
2011 Lecture Notes in Computer Science  
We also present an onthe-fly automata-based algorithm for model checking LTL formulas under universally quantified parameterized fairness assumptions.  ...  It enables verification of temporal properties under fairness conditions associated to dynamic entities such as new process creations. We have implemented our algorithm within the Maude system.  ...  We then have tested our algorithm on complex examples involving dynamic fairness conditions.  ... 
doi:10.1007/978-3-642-22110-1_11 fatcat:463ke2lhevfrvpo755fvnekjla

DYNAMIC REAL-TIME OPTIMIZATION: FROM OFF-LINE NUMERICAL SOLUTION TO MEASUREMENT-BASED IMPLEMENTATION

J.V. Kadam, M. Schlegel, B. Srinivasan, D. Bonvin, W. Marquardt
2005 IFAC Proceedings Volumes  
In this paper, based on the recent results on the numerical optimization of dynamic systems, we present a systematic and automated approach to come up with a solution model.  ...  The problem of optimizing a dynamic system in the presence of uncertainty is typically tackled using measurements.  ...  For the active path constraint h j , the corresponding switching time τ path,i for all controls is assigned as η path,i (t) = η i (t) = K i (h j (t)), t ∈ [τ k , τ k+1 ] τ path,i = τ k = t| hj (t)=0 ,  ... 
doi:10.3182/20050703-6-cz-1902.01674 fatcat:45m5la2iovaq3nc7dbeuysk4xu

High-performance missile synthesis with trajectory and propulsion system optimization

P. K. A. MENON, V. H. L. CHENG, C. A. LIN, M. BRIGGS
1987 Journal of Spacecraft and Rockets  
, k,, k,.  ...  The gains k,, k, and k, are piecewise constant functions of time. In an optimization run, these are the guidance parameters to be optimized. The term Vcosy appearing on the right-hand J.  ... 
doi:10.2514/3.25952 fatcat:iq33jibhmjbwrdub3z6htde7ma
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