This paper describes a sampling-based approach to multi-robot motion planning. The proposed approach is centralized, which aims to reduce interference between mobile robots such as collision, congestion and deadlock, by increasing the number of waypoints. The implementation based on occupancy grid map is decomposed into three steps: the first step is to identify primary waypoints by using the V...

Big data and cloud computing is the development trend of the global information technology exciting and challenges every day now have a large amount of data and information generated, it provides an opportunity for big data analysis. Cloud computing is the essence of all computing social resources together, to realize automatic management, make all kinds of service providers and users don't nee...

In order to generate plans for agents with multiple actuators, agent teams, or distributed controllers, we must be able to represent and plan using concurrent actions with interacting eeects. This has historically been considered a challenging task requiring a temporal planner with the ability to reason explicitly about time. We show that with simple modiications, the STRIPS action representati...

This paper presents a heterogeneous, asynchronous architecture for controlling autonomous mobile robots which is capable of controlling a robot performing multiple tasks in real time in noisy, unpredictable environments. The architecture produces behavior which is reliable, task-directed (and taskable), and reactive to contingencies. Experiments on real and simulated realworld robots are descri...

This paper presents a heterogeneous, asynchronous architecture for controlling autonomous mobile robots which is capable of controlling a robot performing multiple tasks in real time in noisy, unpredictable environments. The architecture produces behavior which is reliable, task-directed (and taskable), and reactive to contingencies. Experiments on real and simulated realworld robots are descri...

This paper addresses the optimal design and planning of biomass-to-liquids (BTL) supply chains under economic and environmental criteria. The supply chain consists of multisite distributed-centralized BTL processing networks. The economic objective is measured by the total annualized cost, and the measure of environmental performance is the life cycle greenhouse gas emissions. A bi-criterion, m...

Coordinating the motion of multiple mobile robots is one of the fundamental problems in robotics. The predominant algorithms for coordinating teams of robots are decoupled and prioritized, thereby avoiding combinatorially hard planning problems typically faced by centralized approaches. In this paper we present a method for finding solvable priority schemes for such prioritized and decoupled pl...

In order to generate plans for agents with multiple actuators, agent teams, or distributed controllers, we must be able to represent and plan using concurrent actions with interacting e ects. This has historically been considered a challenging task requiring a temporal planner with the ability to reason explicitly about time. We show that with simple modi cations, the STRIPS action representati...

Coordinating the motion of multiple mobile robots is one of the fundamental problems in robotics. The predominant algorithms for coordinating teams of robots are decoupled and prioritized, thereby avoiding combinatorially hard planning problems typically faced by centralized approaches. In this paper we present a method for finding solvable priority schemes for such prioritized and decoupled pl...

Search is among the most fundamental techniques for problem solving, and A* is probably the best known heuristic search algorithm. In this paper we adapt A* to the multiagent setting, focusing on multi-agent planning problems. We provide a simple formulation of multi-agent A*, with a parallel and distributed variant. Our algorithms exploit the structure of multi-agent problems to not only distr...