Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles. In an effort to improve path deformation, this paper presents a trajectory deformation scheme. The main idea is that by incorporating the time dimension and hence information on the obstacles’ future...

Automated planning is a classical area of artificial intelligence research that is concerned with the problem of planning a course of action for an agent (or set of agents) acting in a complex environment. In the frequently studied case of classical planning, e. g. in the propositional STRIPS formalism [1], the problem is that of finding a sequence of actions that achieves the goal of a single ...

In this paper we introduce an on-line planner implemented on MARIE, a real autonomous robot. Planning occurs at a high level, the planner controls other modules such as the path planner, which contain planners themselves. Plans are represented in a tree structure. The on-line planner has a library of partial trees to choose from when replanning is needed. We think that our research is unique in...

This study examined the processing of emotional facial expression of emoticon compared to those of human. With pictures of emoticon faces and human faces expressing happy, angry, fearful, and neutral emotions along with pictures of houses and scrambled faces, 24 participants were required to do location-judgment about two gaps on contour of facial and control stimuli (non-attention) or were req...

For the tracking stage path planning, we design a two-axis cross-coupling control system which uses the PI controller to compensate the contour error between axes. In this paper, the stage adoptive is designed by our laboratory (Precision Machine Center of National Formosa University). The cross-coupling controller calculates the actuating signal of each axis by combining multi-axes position er...

Path deformation is a technique that was introduced to generate robot motion wherein a nominal path, that had been computed beforehand, was continuously deformed on-line in response to unforeseen obstacles. In an effort to improve path deformation, this paper presents a trajectory deformation scheme. The main idea is that by incorporating the time dimension and hence information on the obstacle...

Configuration has a number of related topics such as mass customization, software product lines, design, planning, recommender systems, software configuration, and product data management. For a discussion of mass customization, refer to Chapter 9; a discussion of software product lines can be found in Chapter 6. The other topics are discussed in this chapter.

| This paper deals with the problem of planning and controlling the motion of a car like mobile moving in a dynamic and roadway like environment. The contribution presented here is a motion controller which executes in a reactive way a given nominal motion plan. Such a plan is made up of a smooth trajectory C and of time constraints of the type \reach location l at time t l ". Data concerning t...

In this paper we deal with three consecutive planning stages in public transportation: Line planning (including line pool generation), timetabling, and vehicle scheduling. These three steps are traditionally performed one after another in a sequential way often leading to high costs in the (last) vehicle scheduling stage. In this paper we propose three different ways to “look ahead”, i.e., to i...

Based on evolutionary computation concepts, the Evolutionary Planner/Navigator (EP/N) represents a new approach to path planning and navigation. The major advantages of the EP/N include being able to achieve both near-optimality of paths and high planning efficiency, being able to accommodate different optimization criteria, being flexible to changes, and being robust to uncertainties. The EP/N...