In this paper we present a novel approach for multi-robot motion planning by using a probabilistic roadmap (PRM) based on adaptive cross sampling (ACS). The proposed approach, we call ACSPRM, consists of three steps, which are C-space sampling, roadmap building and motion planning. Firstly, an adequate number of points should be generated in C-space on an occupancy grid map by using an adaptive...

Probabilistic roadmap planners have been used with success to plan paths for flexible objects such as metallic plates or plastic flexible pipes. This paper improves the performance of these planners by using the medial axis of the workspace to guide the random sampling. At a preprocessing stage, the medial axis of the workspace is computed using a recent efficient algorithm. Then the flexible o...

The Roadmap Epigenomics Consortium has published whole-genome functional annotation maps in 127 human cell types by integrating data from studies of multiple epigenetic marks. These maps have been widely used for studying gene regulation in cell type-specific contexts and predicting the functional impact of DNA mutations on disease. Here, we present a new map of functional elements produced by ...

We present a new sampling-based algorithm for complete motion planning. Our algorithm relies on computing a star-shaped roadmap of the free space. We partition the free space into star-shaped regions such that a single point, called the guard, can see every point in the star-shaped region. The resulting set of guards capture the intraregion connectivity—the connectivity between points belonging...

In this paper, we propose a new approach for building and querying probabilistic roadmaps. In the roadmap construction stage, we build coarse roadmaps by performing only an approximate validation of the roadmap nodes and/or edges. In the query stage, the roadmap is validated and re ned only in the area of interest for the query, and moreover, is customized in accordance with any speci ed query ...

Sustainability is a complex concept comprised of multiple facets such as social, environmental, economic and more that challenges traditional norms of organisational practices. But there is a lack of generally accepted sustainability principles that is supported by most of the organisational stakeholders, and a pattern oriented methodology that is entirely backed by the organisational resources...

Draft Background The aim of this paper is to present an outline for discussion upon a new Research Challenge on Opinion Mining and Sentiment Analysis. This research challenge has been developed in the scope of project CROSSOVER “Bridging Communities for Next Generation Policy-Making” in the view of the definition of a new Research Roadmap on ICT Tools for Governance and Policy Making, building ...

This paper prescribes an incremental procedure to construct roadmaps of unknown environments. Recall that a roadmap is a geometric structure that a robot uses to plan a path between two points in an environment. If the robot knows the roadmap, then it knows the environment. Likewise, if the robot constructs the roadmap, then it has effectively explored the environment. This paper focuses on the...

This paper presents an experimental study of prospects for using adaptable local search techniques in probabilistic roadmap based motion planning. The classical PRM approach uses a single fast and simple local planner to build a network representation of the configuration space. Advanced PRM planners utilize heuristic sampling techniques and combine multiple local planners. The planner describe...