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This paper examines the capturability of a guidance law that provides a desired angular acceleration of the heading angle to a pursuer. The guidance law has originally been proposed by Fajen and Warren[13], in order to explain the behavior of walking humans. It is shown that the relative rotational motion between a pursuer and an evader can be represented by an equation similar to the equation of...
An urban operation of unmanned aerial vehicles (UAVs) demands a high level of autonomy for tasks presented in a cluttered environment. While fixed-wing UAVs have been well suited for long-endurance missions at a high altitude, their navigation inside an urban area brings more challenges in motion planning and control. The inability to hover and low agility in motion cause more difficulties on planning...
Automated cell tracking in populations is important for research and discovery in biology and medicine. In this paper, we propose a cell tracking method based on global spatio-temporal data association which considers hypotheses of initialization, termination, translation, division and false positive in an integrated formulation. Firstly, reliable tracklets (i.e., short trajectories) are generated...
This paper presents the experimental results of the real-time performance of model-based control algorithms. We compare the computed-torque control scheme with the feedforward dynamics compensation scheme. The feedforward scheme compensates for the manipulator dynamics in the feedforward path while the computed-torque scheme uses the dynamics in the feedback loop for linearization and decoupling....
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