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Memory of Motion for Initializing Optimization in Robotics

Related publications (242)

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Coordinating Agile Systems through the Model-based Execution of Temporal Plans

Thomas Léauté

Agile autonomous systems are emerging, such as unmanned aerial vehicles (UAVs), that must robustly perform tightly coordinated time-critical missions; for example, military surveillance or search-and-rescue scenarios. In the space domain, execution of temp ...

Massachusetts Institute of Technology (MIT)2005

Gradient estimates of return

Samy Bengio, Christos Dimitrakakis

The exploration-exploitation trade-off that arises when one considers simple point estimates of expected returns no longer appears when full distributions are considered. This work develops a simple gradient-based approach for mainting such distributions a ...

IDIAP2005

Mixture models for multivariate extremes

Marc-Olivier Boldi

This thesis is a contribution to multivariate extreme value statistics. The tail of a multivariate distribution function is characterized by its spectral distribution, for which we propose a new semi-parametric model based on mixtures of Dirichlet distribu ...

EPFL2004

Evaluation and visualization of stress and strain on soft biological tissues in contact

Daniel Thalmann, Ronan Boulic, Sofiane Sarni, Anderson Maciel

This paper addresses evaluation and visualization of stress and strain on soft biological tissues in contact given three-dimensional models of reconstructed organs from magnetic resonance images (MRI), we use an anatomy-based kinematical model combined wit ...

IEEE2004

Nouveaux concepts de locomotion pour véhicules tout-terrain robotisés

Michel Lauria

Robotic ground vehicles are mechanisms that use gravity and contact forces with the ground to perform motion. They can either be wheeled, tracked or legged. In this thesis we will focus on n-wheeled vehicles able to perform ground following motion with all ...

EPFL2003

Smooth and Efficient Obstacle Avoidance for a Tour Guide Robot

Roland Siegwart, Roland Philippsen

We present the local path planning and obstacle avoidance method used on the autonomous tour-guide robot RoboX. It has proven its value during a 5 month operation of ten such robots in a real-world application, a very crowded exhibition. Three known approa ...

2003

Optimum error nonlinearities for long adaptive filters

Ali H. Sayed

In this paper, we consider the class of adaptive filters with error nonlinearities. In particular, we derive an expression for the optimum nonlinearity that minimizes the steady-state error and attains the limit mandated by the Cramer-Rae bound of the unde ...

2002

On the Long-Run Behavior of Equation-Based Rate Control

Jean-Yves Le Boudec, Milan Vojnovic

We consider unicast equation based rate control, where a source estimates the loss event ratio p, and, primarily at loss events, adjusts its sending rate to f(p). Function f is assumed to represent the loss-throughput relation that TCP would experience. Wh ...

2002

On the Long-Run Behavior of Equation-Based Rate Control

Jean-Yves Le Boudec, Milan Vojnovic

2002

Computer-intensive statistical methods

Diego Kuonen

The saddlepoint approximation was introduced into statistics in 1954 by Henry E. Daniels. This basic result on approximating the density function of the sample mean has been generalized to many situations. The accuracy of this approximation is very good, p ...

EPFL2001