Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too slow to be applied in realtime to this domain, hence, new techniques are needed. Recently, iterative planning has emerged as a promising approach. Nevertheless, existing iterative methods do not prov...

While the use of micro unmanned vehicles is steadily increasing, there are currently no viable approaches for perching and holding on to landing pads. We describe the design, control, and planning methodologies to enable perching. Our work builds on an off-the-shelf UAV and motion capture system and addresses (a) the design and fabrication of a claw or gripping mechanism for perching; and (b) p...

We present a new approach to automating the veriication of hardware designs based on planning techniques. A database of methods is developed that combines tactics, which construct proofs, using speciic-ations of their behaviour. Given a veriication problem, a planner uses the method database to build automatically a specialised tactic to solve the given problem. User interaction is limited to s...

In radiotherapy a common method used to compensate for patient setup error and organ motion is to enlarge the clinical target volume (CTV) by a 'margin' to produce a 'planning target volume' (PTV). Using weighted power loss functions as a measure of performance for a treatment plan, a simple method can be developed to calculate the ideal spatial dose distribution (one that minimizes expected lo...

Today's the clients of auditors use a variety of IT systems such as Enterprise Resource Planning (ERP) to process accounting transactions. These systems have brought about changes within the organizations. ERP systems developed a new audit landscape requiring auditors to adjust audit processes, controls, and tests. This paper examines how implementation of ERP changes audit process and quality ...

This paper considers the problem of path planning for teams of mobile robots. It investigates two decoupled and prioritized approaches to coordinate the movements of the mobile robots in their environment. The first approach considered is the coordination technique. The second approach is an A -based path planning technique which computes the paths for the individual robots in the configuration...

I describe a planning methodology for domains with uncertainty in the form of external events that are not completely predictable. Under certain conditions, these events can be modelled as continuous-time Markov chains whose states are characterised by the planner’s domain predicates. Planning is goal-directed, but the subgoals are suggested by analysing the utility of the partial plan rather t...

Multiagent environments are often highly dynamic and only partially observable which makes deliberative action planning computationally hard. In many such environments, however, agents can take a more proactive approach and suspend planning for partial plan execution, especially for active information gathering and interaction with others. This paper presents a new algorithm for Continual Colla...

This paper presents a method to determine if a usable wheelchair accessible route in a facility exists using motion-planning techniques. We use a `performance-based' approach to predict the performance of a facility design against requirements of a building code. This approach has advantages over the traditional `prescriptive' code-based approach for assessing acceptability of designs, which is...

The multi-robot coverage path-planning problem involves finding collision-free paths for a set of robots so that they can completely cover the surface of an environment. This problem is non-trivial as the geometry and location of obstacles in the environment is usually not known a priori by the robots, and they have to adapt their coverage path as they discover obstacles while moving in the env...