16,836 research outputs found
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
A Survey of the Spacecraft Line-Of-Sight Jitter Problem
Predicting, managing, controlling, and testing spacecraft Line-of-Sight (LoS) jit- ter due to on-board internal disturbance sources is a challenging multi- disciplinary systems engineering problem, especially for those observatories hosting extremely sensitive optical sensor payloads with stringent requirements on allowable LoS jitter. Some specific spacecraft jitter engineering challenges will be introduced and described in this survey paper. Illustrative examples of missions where dynamic interactions have to be addressed to satisfy demanding payload instrument LoS jitter requirements will be provided. Some lessons learned and a set of recommended rules of thumb are also presented to provide guidance for analysts on where to initiate and how to approach a new spacecraft jitter design problem. These experience-based spacecraft jitter lessons learned and rules of thumb are provided in the hope they can be leveraged on new space system development projects to help overcome unfamiliarity with previously identified jitter technical pitfalls and challenges
Possible origins of macroscopic left-right asymmetry in organisms
I consider the microscopic mechanisms by which a particular left-right (L/R)
asymmetry is generated at the organism level from the microscopic handedness of
cytoskeletal molecules. In light of a fundamental symmetry principle, the
typical pattern-formation mechanisms of diffusion plus regulation cannot
implement the "right-hand rule"; at the microscopic level, the cell's
cytoskeleton of chiral filaments seems always to be involved, usually in
collective states driven by polymerization forces or molecular motors. It seems
particularly easy for handedness to emerge in a shear or rotation in the
background of an effectively two-dimensional system, such as the cell membrane
or a layer of cells, as this requires no pre-existing axis apart from the layer
normal. I detail a scenario involving actin/myosin layers in snails and in C.
elegans, and also one about the microtubule layer in plant cells. I also survey
the other examples that I am aware of, such as the emergence of handedness such
as the emergence of handedness in neurons, in eukaryote cell motility, and in
non-flagellated bacteria.Comment: 42 pages, 6 figures, resubmitted to J. Stat. Phys. special issue.
Major rewrite, rearranged sections/subsections, new Fig 3 + 6, new physics in
Sec 2.4 and 3.4.1, added Sec 5 and subsections of Sec
Parameter Estimation of Social Forces in Crowd Dynamics Models via a Probabilistic Method
Focusing on a specific crowd dynamics situation, including real life
experiments and measurements, our paper targets a twofold aim: (1) we present a
Bayesian probabilistic method to estimate the value and the uncertainty (in the
form of a probability density function) of parameters in crowd dynamic models
from the experimental data; and (2) we introduce a fitness measure for the
models to classify a couple of model structures (forces) according to their
fitness to the experimental data, preparing the stage for a more general
model-selection and validation strategy inspired by probabilistic data
analysis. Finally, we review the essential aspects of our experimental setup
and measurement technique.Comment: 20 pages, 9 figure
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