Real-time replanning is a prerequisite for motion execution in unpredictably changing environments. This paper presents a framework that allows real-time replanning in high-dimensional configuration spaces. Initially, a planning operation generates a path. The path is augmented by a set of paths homotopic to it. This set is represented implicitly by a volume of free space in the workspace. Effe...

In this paper, the authors present a systematic and comprehensive analysis of scenario methods in the integrated planning of nautical port and marina sites. The subject of research is nautical ports and marinas as facilities having the greatest importance for nautical tourism development and for boaters. The optimum scenario for their development is determined, and marina carrying capacity is i...

This paper extends previous work with Dyna, a class of architectures for intelligent systems based on approximating dynamic programming methods. Dyna architectures integrate trial-and-error (reinforcement) learning and execution-time planning into a single process operating alternately on the world and on a learned model of the world. In this paper, I present and show results for two Dyna archi...

Over the last several decades, land-use/transport interaction models have evolved. Although these potential to become primary demographic forecasting and planning vehicles in metropolitan transportation for most large US urban regions, some gaps improvements must be addressed. This paper briefly discusses a newly developed refined integrated land-use/transportation model. It also introduces inn...

Current motion planners, such as the ones available in ROS MoveIt, can solve difficult motion planning problems. However, these planners are not practical in unstructured, rapidly-changing environments. First, they assume that the environment is well-known, and static during planning and execution. Second, they do not support temporal constraints, which are often important for synchronization b...

FOREWORD The International Atomic Energy Agency (IAEA) has published material on different policy considerations in the introduction of nuclear power, primarily addressed to top level decision makers in government and industry in Member States. Several Member States and experts recommended to the IAEA to address the aspects of an integrated approach to nuclear power programme planning and to se...

sion diagrams (BDDs) to compactly represent world states in a planning problem and efficiently explore the underlying state space. It was the first general planning system based on model-checking methods. It can handle the STRIPS subset of the PDDL language and some additional features from ADL, namely, negative preconditions and (universal) conditional effects. At the Fifth International Confe...

This paper was commissioned by the Global Education Monitoring Report as background information to assist in drafting the 2016 report. It has not been edited by the team. The views and opinions expressed in this paper are those of the author(s) and should not be attributed to the Global Education Monitoring Report or to UNESCO. The papers can be cited with the following reference: “Paper commis...

In this paper, a framework is presented to solve the problem of multistage distribution system expansion planning in which installation and/or reinforcement of substations, feeders and distributed generation units are taken into consideration as possible solutions for system capacity expansion. The proposed formulation considers investment, operation, and outage costs of the system. The expansi...