in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

The aim of this study is to propose a new mixed integer linear programming (MILP) model to find the minimum required number of yard cranes, Rubber tyred gantry cranes (RTGCs), for completion the total amount of works at the end of planning horizon. In other word, we find the optimal number of yard cranes in a container terminal which completes the total amount of works. The paper supports the p...

We combine mixed integer linear programming (MILP) and constraint programming (CP) to solve planning and scheduling problems. Tasks are allocated to facilities using MILP and scheduled using CP, and the two are linked via logic-based Benders decomposition. Tasks assigned to a facility may run in parallel subject to resource constraints (cumulative scheduling). We solve minimum cost problems, as...

this paper presents an application of benders decomposition to deal with the complexities in the simultaneous generation expansion planning (gep) and transmission expansion planning (tep). unlike the power system operation fields of study, the power system planning methods are not expected to be fast. however, it is always preferable to speed up computations to provide more analysis options for...

This paper presents a review of past and present results approaches in the area motion planning using MIP (Mixed-integer Programming). Although early 2000s was still seen with reluctance as method for solving planning-related problems, nowadays, due to increases computational power theoretical advances, its extensive modeling capabilities versatility are coming fore enjoy increased application ...

Human diet planning is generally carried out by selecting the food items or groups of food items to be used in the diet and then calculating the composition. If nutrient quantities do not reach the desired nutritional requirements, foods are exchanged or quantities altered and the composition recalculated. Iterations are repeated until a suitable diet is obtained. This procedure is cumbersome a...

This paper extends a recently-developed path planning method to account for plume impingement, which is a key concern for on-orbit rendezvous and formation flying spacecraft. The approach designs fueloptimal trajectories for multiple vehicles using a combination of linear and integer programming. The vehicles are required to move from an initial dynamic state to a final state without colliding ...