An important question in the literature focusing on motor control is to determine which laws drive biological limb movements. This has prompted numerous investigations analyzing arm movements both humans and monkeys. Many theories assume that among all possible one actually performed satisfies an optimality criterion. In framework of optimal theory, a first approach choose cost function test whether proposed model fits with experimental data. A second (generally considered as more difficult)...

Let M be a smooth manifold and Dm, m ≥ 2, the set of rank distributions on endowed with Whitney C∞ topology. We show existence an open Om dense in so that every nontrivial singular curve distribution D is minimal order corank one. In particular, for > 3, does not admit rigid curves. As consequence, generic sub-Riemannian structures greater than or equal to three, there do exist minimizing

To want something now rather than later is a common attitude that reflects the brain's tendency to value passage of time. Because time taken accomplish an action inevitably delays task achievement and reward acquisition, this idea was ported neural movement control within “cost time” theory. This theory provides normative framework account for underpinnings formation brain origin self-selected pace in human animal motion. Then, how does exactly action? tackle issue, we used inverse optimal...

When applying methods of optimal control to motion planning or stabilization problems, we see that some theoretical numerical difficulties may arise, due the presence specific trajectories, namely, minimizing singular trajectories underlying problem. In this article, provide characterizations for control-affine systems. We prove that, under generic assumptions, such share nice properties, related computational aspects; more precisely, show a system—with respect Whitney topology—all...

A longstanding open question in sub-Riemannian geometry is the following: are length minimizers smooth? We give a negative answer to this question, exhibiting an example of $C^2$ but not $C^3$ length-minimizer real-analytic (even polynomial) structure.

In this paper we study the problem of car with N trailers. It was proved in previous works ([9], [12]) that when each trailer is perpendicular one degree nonholonomy F<sub>n+3<sub/> (the (n+3)-th term Fibonacci's sequence) and no two consecutive trailers are n+2. We compute here by induction non holonomy every state obtain a partition singular set non-holonomy. give also for area vector fields Lie Algebra control system wich makes basis tangent space.

This paper focuses on video summarization of abnormal behavior for remote invigilation online exams. While the last decade has seen a massive increase in e-learning and courses offered at postsecondary institutions, preserving integrity examinations still heavily relies web conference performed by proctor. Live is limited number students that can be handled once, manual post-exam review labor intensive. We propose novel computer vision-based content analysis system automatic creation...

Understanding the underpinnings of biological motor control is an important issue in movement neuroscience. Optimal theory a leading framework to rationalize this problem computational terms. Previously, optimal models have been devised either deterministic or stochastic settings account for different aspects (e.g. average behavior versus trial-to-trial variability). While these approaches yielded valuable insights about control, they typically fail explaining muscle co-contraction....

Nilpotent approximations are a useful tool for analyzing and controlling systems whose tangent linearization does not preserve controllability, such as nonholonomic mechanisms. However, conventional homogeneous exhibit drawback: in the neighborhood of singular points (where system growth vector is constant) fields approximate dynamics do vary continuously with approximation point. The geometric counterpart this situation that sub-Riemannian distance estimate provided by classical Ball-Box...

In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. this paradigm, the trajectories are assumed to solutions of problem determined. We discuss modeling both dynamical system and cost minimized, we analyze corresponding synthesis. The main results describe asymptotic behavior target point goes infinity.

.In this article, we study a Mayer optimal control problem on the space of Borel probability measures over compact Riemannian manifold \(M\). This is motivated by certain situations where central planner deterministic controlled system has only imperfect information initial state system. The lack here very specific. It described measure along which distributed. We define new notion viscosity in taking test functions that are directionally differentiable and can be written as difference two...

Despite our environment often being uncertain, we generally manage to generate stable motor behaviors. While reactive control plays a major role in this achievement, proactive is critical cope with the substantial noise and delays that affect neuromusculoskeletal systems. In particular, muscle co-contraction exploited robustify feedforward commands against internal sensorimotor as was revealed by stochastic optimal open-loop modeling. Here, extend framework systems subjected random...

The complexity of motion planning amidst obstacles is a well modeled and understood notion. What the increase when problem to plan trajectories nonholonomic robot? We show that this quantity can be seen as function paths distance between obstacles. propose various definitions it, from both topological metric points view, compare their values. For two them we give estimates which involve some E-norm on tangent space configuration space. Finally apply these results compute needed park car-like...