Languages, behaviors, hybrid architectures, and motion control
Mathematical control theory
Artificial intelligence and mobile robots: case studies of successful robot systems
Artificial intelligence and mobile robots: case studies of successful robot systems
An Behavior-based Robotics
Maneuver-based motion planning for nonlinear systems with symmetries
IEEE Transactions on Robotics
Optimization of Multi-agent Motion Programs with Applications to Robotic Marionettes
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Timing Control of Switched Systems with Applications to Robotic Marionettes
Discrete Event Dynamic Systems
Action recognition for human-marionette interaction
Proceedings of the 20th ACM international conference on Multimedia
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This paper presents a motion description language (MDLp) for specifying and encoding autonomous puppetry plays in a manner that is faithful to the way puppetry choreography is currently formulated. In particular, MDLp is a formal language whose strings, when parsed by a dynamical system (the puppet) produces optimized, hybrid control laws corresponding to strings of motions, locations, and temporal durations for each agent. The paper is concerned with the development of this language as well as with an optimization engine for hybrid optimal control of MDLp strings, and with the generation of motion primitives within the "Imitate, Simplify, Exaggerate" puppetry paradigm.