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This paper provides algorithms for the optimization of autonomous hybrid systems based on the geometrical properties of switching manifolds. The first and second sections of the paper introduce optimal hybrid control systems and the third section deals with the analysis of the Hybrid Maximum Principle (HMP) algorithm introduced in. The HMP algorithm in is then extended to a geometrical algorithm by...
Recently the L∞-norm optimization has been introduced to multi-view geometry to achieve global optimality. It is solved through solving a sequence of SOCP (second order cone programming) feasibility problems which needs sophisticated solvers and time consuming. This paper presents an efficient smooth approximation of L∞-norm optimization in multi-view geometry using log-sum-exp functions. We have...
In this paper, two new energy functions are presented to handle the slanted plane. First, the gradient information is used to get the initial disparity in a local energy function. Second, a global energy function is incorporating segment geometric constraints. To overcome the fronto-parallel model errors, the segment adjacent segments cooperative optimization is used to infer the unreliable pixel...
We address the problem of 3D model based vehicle localization in calibrated traffic scenes. A wire-frame vehicle model is set up as prior information and an efficient local gradient based method is proposed to evaluate the fitness between the projection of 3D model and image data, which illustrates smooth optimization surface and more conspicuous peak with low computational cost. Gradient decent is...
This paper considers the deployment of a network of robotic agents with limited-range communication and anisotropic sensing capabilities. We encode the environment coverage provided by the network by means of an expected- value objective function. This function has a gradient which is not amenable to distributed computation. We provide a constant-factor approximation of this measure via an alternative...
This paper presents a new method for strictly convex hulls (i.e. bounding volume) generation made by assembling patches of spheres and toruses (STP-BV). This bounding volume allows to compute proximity distances with the guarantee of their gradients' continuity. This bounding volume is computed off-line; it slightly over-covers the polyhedral convex hull of the geometrical form. Given a pair of convex...
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