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Trajectory segmentation using dynamic programming

R. Mann, A.D. Jepson, T. El-Maraghi
Object recognition supported by user interaction for service robots  
., single curves or trajectories) the global optimum segmentation can be found by dynamic programming.  ...  Heuristics such as split-and-merge are used to find the best segmentation.  ...  First we present a novel segmentation scheme which extracts piecewise polynomial segments of a trajectory using dynamic programming.  ... 
doi:10.1109/icpr.2002.1044709 dblp:conf/icpr/MannJE02 fatcat:hu7irqdhzjhupbbzbmrnmompa4

Dynamics Based Trajectory Segmentation for UAV videos

Prithviraj Banerjee, Ram Nevatia
2010 2010 7th IEEE International Conference on Advanced Video and Signal Based Surveillance  
Specifically, a piecewise arc fitting based smoothing algorithm is proposed for denoising the trajectories. A dynamic program is used to find the optimal arc fit to a given trajectory.  ...  We motivate the usage of dynamic primitives to parametrize common vehicular activities, and propose a dynamics based trajectory segmentation algorithm.  ...  The number of arc segments to be used and their endpoints are determined using dynamic programming.  ... 
doi:10.1109/avss.2010.23 dblp:conf/avss/BanerjeeN10 fatcat:atisy2jyunfolae6a2e2em7jd4

Spacecraft Trajectory Optimization Based on Discrete Sets of Pseudoimpulses

Yuri Ulybyshev
2009 Journal of Guidance Control and Dynamics  
., “Discrete Approximations to Optimal Trajectories Using Direct Transcription and Nonlinear Programming,” Journal of Guidance, Control, and Dynamics, Vo}. 15, No. 4, 1992, pp. 994-1002. doi: 10.2514/3.20934  ...  But classical linear programming has not been practically used for the optimization of continuous-thrust trajectories.  ... 
doi:10.2514/1.41201 fatcat:f3ac2bqwpvfnhcsb2l54xfsyxy


1995 Cybernetics and systems  
Controlled trajectories found by this program exhibit a variety of interesting and useful properties.  ...  Given a differential equation and two points in the system's state space, it automatically selects and maps the region of interest, chooses a set of trajectory segments from the maps, uses them to construct  ...  Nonlinear dynamics provides the mathematical tools used by these algorithms to choose values, tolerances, heuristics and limits for the selection of trajectory segments and their synthesis into useful  ... 
doi:10.1080/01969729508927509 fatcat:qfcysjma45g7xj2balktpmlc5a

Using Local Trajectory Optimizers to Speed Up Global Optimization in Dynamic Programming

Christopher G. Atkeson
1993 Neural Information Processing Systems  
Dynamic programming provides a methodology to develop planners and controllers for nonlinear systems. However, general dynamic programming is computationally intractable.  ...  We use second order local trajectory optimization to generate locally optimal plans and local models of the value function and its derivatives.  ...  Figure 2A shows a dynamic programming approach in which each cell contains a trajectory segment applied to the pendulum problem.  ... 
dblp:conf/nips/Atkeson93 fatcat:3hcj7hl2z5fdjk7p6nnbpjwwfe

Phase-space control system design

1993 IEEE Control Systems  
features like strange attractors in its segmented control trajectories, gaining otherwise-unobtainable performance.  ...  Phase Space Navigator visualizes phase-space dynamics through flow pipes and navigates systems along automatically synthesizedreference trajectories.PerfectMoment identifies and uses chaotic phase-space  ...  Ifno shorter path exists on any other member ofthe stack of maps, the appropriate segment of this trajectory is extracted and used by the program as the core segment of the controlled trajectory.  ... 
doi:10.1109/37.206984 fatcat:b5rw3j4nf5ffdpttfjlp7t2pwa

Velocity Constrained Trajectory Generation for a Collinear Mecanum Wheeled Robot

Matthew T. Watson, Daniel T. Gladwin, Tony J. Prescott, Sebastian O. Conran
2019 2019 International Conference on Robotics and Automation (ICRA)  
techniques to ground based omnidirectional dynamically balancing robots.  ...  However, when operating in indoor environments these systems must often adhere to relatively low velocity constraints, resulting in very conservative trajectories when enforced using existing trajectory  ...  Recent advances in SOS programming will also be explored for use in this planning problem, notably sparse SOS [16] and diagonal/scaled-diagonal SOS programming [17] .  ... 
doi:10.1109/icra.2019.8794019 dblp:conf/icra/WatsonGPC19 fatcat:cvqthcfkkbaoljpzsjkeqwjpaa

Direct trajectory optimization using nonlinear programming and collocation

1987 Journal of Guidance Control and Dynamics  
GUIDANCE VOL. 10, NO. 4 Direct Trajectory Optimization Using Nonlinear Programming and Collocation C.R. Hargraves* and S.W.  ...  A coverged NPDOT tra- jectory was obtained using 22 segments and resulted in a 10% gain in weight over the baseline trajectory.  ... 
doi:10.2514/3.20223 fatcat:2734ss32fzfmfksh7hrgy77vcu

3D Trajectory Planning of UAV Based on DPGA Algorithm

Jin Zirong, Zhang Liang, Zou Zhilong
2021 IEEE Access  
Compared with the single use of dynamic programming algorithm and genetic algorithm, the hybrid algorithm changes the problem scale from a trajectory with n nodes to a series of trajectory segments with  ...  programminggenetic algorithm proposed in this paper can be regarded as using the dynamic programming algorithm to optimize the trajectory segment planned by the genetic algorithm.  ... 
doi:10.1109/access.2021.3099836 fatcat:yb3yx7pn2zcxbkcaj2h27fq374

An Automated Scheme to Determine Design Parameters for a Recoverable Re-entry Vehicle

W.E. Williamson
1977 Journal of Spacecraft and Rockets  
Using C, . for the entire trajectory resulted in a dynamic pressure at chute deployment of 1920 psf, and using C,_ for the entire trajectory resulted in a dynamic pressure at chute deployment of 1060 psf  ...  Maximum dynamic pressure was obtained using the upper boundary for C, before vehicle segmentation and the lower boundary after vehicle segmentation.  ... 
doi:10.2514/3.57229 fatcat:6rrjj3lw4jaedpt7tmesaxcjey

Energy Planning for Unmanned Over-Actuated Road Vehicle

Ismail Bensekrane, Pushpendra Kumar, Achille Melingui, Vincent Coelen, Yacine Amara, Rochdi Merzouki
2018 2018 IEEE Vehicle Power and Propulsion Conference (VPPC)  
Furthermore, a dynamic programming algorithm is applied to find the optimal velocity profile, and the optimal configuration mode in each segment of the road for an over-actuated URV called RobuCAR, used  ...  In this paper, we are applying a dynamic programming algorithm to find the optimal velocity profile and the optimal driving mode in each segment of the trajectory. C.  ...  Dynamic programming algorithm is applied to obtain the global optimal velocity profile and the optimal driving mode associated with each segment of the trajectory in off-line mode.  ... 
doi:10.1109/vppc.2018.8604990 fatcat:yqfvgrpgv5gk7m3yex6ahg62lq

Discrete Pseudocontrol Sets for Optimal Control Problems

Yuri Ulybyshev
2010 Journal of Guidance Control and Dynamics  
This approach combines large-scale linear programming algorithms with the well-known discretization of the continuous system dynamics on small segments and uses discrete pseudocontrol sets, which are considered  ...  P., and Feron, E., “Spacecraft Trajectory Planning with Avoidance Constraints Using Mixed-Linear Programming,” Journal of Guidance, Control, and Dynamics, Vol. 25, No. 4, 2002, pp. 755-764. doi:10.2514  ... 
doi:10.2514/1.47315 fatcat:6yk4z4odjrc2bdq6bzzb5n6sle

Adaptive Sampling of Motion Trajectories for Discrete Task-Based Analysis and Synthesis of Gesture [chapter]

Pierre-François Marteau, Sylvie Gibet
2006 Lecture Notes in Computer Science  
We have developed a Dynamic Programming Piecewise Linear Approximation model (DPPLA) that generates the discretization of these 3D Cartesian trajectories.  ...  These sequences of samples non uniformly distributed along the trajectory are used as input of our sensory motor system.  ...  Our analysis method uses a Dynamic Programming Piecewise Linear Approximation (DPPLA) algorithm that extracts a sequence of multi-dimensional targets from the end-effector trajectory.  ... 
doi:10.1007/11678816_25 fatcat:7xayxvmnhvc6rhjaalrrijsiha

An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation

Matthew Kelly
2017 SIAM Review  
There are two advantages to dynamic programming over trajectory optimization.  ...  Differential dynamic programming. One final method is Differential Dynamic Programming.  ... 
doi:10.1137/16m1062569 fatcat:q6llm5sg3bhzhl2whz5y5gqe4a

Optimization of pocket machining strategy in HSM

El Bechir Msaddek, Zoubeir Bouaziz, Gilles Dessein, Maher Baili
2011 The International Journal of Advanced Manufacturing Technology  
For doing this, we have developed analytic models expressing the feed rate of the cutting tools trajectory.  ...  have elaborated an optimization method based on the analysis of the different critical parameters so as to distinguish the most suitable strategies to calculate the cutting time and define the machine dynamics  ...  Figure 15 shows the use percentage of the recommended The length of segments The length of segments is an interesting criterion for the trajectories, reserved to the HSM.  ... 
doi:10.1007/s00170-011-3801-9 fatcat:pbwqjxe5nvggvoryhabthetena
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