An real-time algorithm based on Ariadne’s Clew and A* is developed to plan dynamically feasible trajectories appropriate to a vehicle traversing an urban environment in a legal manner. Simple precomputed clothoids are used to build a tree of possible maneuvers which is searched to minimize a cost function depending on path length, steering effort and lane discipline. The algorithm dynamically a...

nowadays, managing the relations between customers is a fundamental necessity in activities leading to the promotion in the chain of an organization. in fact, customers satisfaction and quality of services are considered as the vital issues in most industries and services. after-sales services will also become more important in near future in iran and the survival of domestic automobile industr...

urban settlements and their connectivity will be the dominant driver of global change during the twenty-first century. in an attempt to assess the effects of urban growth on available land for other uses and its associated impacts on environmental parameters, we modeled the change in the extent of gorgan city, the capital of the golestan province of iran. we used landsat tm and etm+ imagery of ...

This research explores the correlation between ‘walkability’ and the ‘sense of place’ in Tehran’s streets, particularly streets leading to the Imam Khomeini square (Maidan-e Tup-khana) at the heart of historic downtown. The goal is to evaluate the walkability through a measurable method in order to prioritize strategies to enhance various aspects of the historic districts. After reviewing the e...

The degree to which a planning system succeeds depends on its ability to meet critical deadlines as well as the correctness and completeness of its models which describe events and actions that change the world state. It is often unrealistic to expect either unlimited execution time or perfect models, so a planner must be able to make appropriate time vs. quality tradeoffs, then detect and resp...