— Humanoid robots are expected to share human environments in the future and it is important to ensure safety of their operation. A serious threat to safety is the fall of a huma...
—This paper develops a framework for locally deforming either a parametric surface or hierarchical subdivision surface to match a set of positional and energy minimizing constrai...
In this paper, we present a general algebraic framework for analysing decentralized control systems. We consider systems defined by linear fractional functions over a commutative ...
Recent work has led to the development of an elegant theory of Linearly Solvable Markov Decision Processes (LMDPs) and related Path-Integral Control Problems. Traditionally, LMDPs...