While the increased automation levels of production and operation equipment have led to improved productivity mining activity in open pit mines, capacity mine transport system has become a bottleneck. The optimisation is great practical significance reduce cost improve organizational efficiency mines. In this paper, we first formulate multiobjective problem for railway scheduling by introducing...

This paper proposes a path and motion planning algorithm for a tree climbing problem. This problem is challenging as the shape of tree is complex and irregular. To our best knowledge, this is the first paper dealing with the path planning problem on natural tree environment. Different from conventional motion planning approach that requires constructing a complex configuration space, this paper...

Motion of objects in contact plays an important role in the mechanical assembly by manipulators. This paper presents a motion planning algorithm for the case that a convex polyhedron translates and rotates in contact with another one. The rotation of the moving one is parameterized by the special unitary 2 2 matrix to have the algebraic representation of the contact conditions between the polyh...

The complexity of exact motion planning algorithms highly depends on the complexity of the robot’s free space, i.e., the set of all collision-free placements of the robot. Theoretically, the complexity of the free space can be very high. In practice, the complexity of the free space tends to be much smaller. We show that, under some realistic assumptions, the complexity of the free space of a r...

Planning has been one of the main research areas in AI. For about three decades AI researchers explore alternative paths to build intelligent agents with advanced planning capabilities. However, the classical AI planning techniques suffer from inapplicability to real world domains, due to several assumptions adopted to facilitate research. Attempts to apply planning into real domains must addre...

The efficiency of an online motion planning algorithm often is measured by a constant competitive factor C. Competitivity means, that the cost of an Ccompetitive online strategy with incomplete information is only C times worse than the optimal offline solution with full information. If a strategy is represented by an infinite sequence X = f1, f2, . . ., the problem of finding a strategy with m...

The artificial potential field based path planning has been most wisely used for local path planning because it provides simple and efficient motion planners for practical purposes. However, this approach has a local minimum problem which can trap a robot before reaching its goal. The local minimum problem is sometimes inevitable when a mobile robot moves in unknown environments, because the ro...

We have previously developed a new method for generating collision-free paths for robots operating in changing environments. Our approach relies on creating a representation of the configuration space that can be easily modified in real time to account for changes in the environment. In this paper we address the issues of efficiency and robustness. First, we develop a novel, efficient encoding ...