this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

Precise constraint satisfaction modeling requires specific knowledge acquired from multiple past cases. We address this issue with a general branch-and-bound algorithm that learns the parameters of a given global constraint from a small set of positive solutions. The idea is to cleverly explore the possible combinations taken by the constraint’s parameters without explicitly enumerating all com...

In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...

Yard crane is an important resource in container terminals. Efficient utilization of the yard crane significantly improves the productivity and the profitability of the container terminal. This paper presents a mixed integer programming model for the yard crane scheduling problem with non- interference constraint that is NPHARD in nature. In other words, one of the most important constraints in...

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

This paper describes a model for temporal reasoning that handles both quantitative and qualitative information affected by vagueness and uncertainty. Starting from two existing models, namely the Meiri’s system [9] and IA fuz [2, 3], the proposed approach generalizes the first to a fuzzy framework and extends the second in order to handle qualitative constraints. The system uses the Fuzzy Const...

Solving over-constrained problems with Max-SAT solvers typically consists of finding an assignment that satisfies all the hard constraints and the maximum number of soft constraints. Despite the relevance of clause learning in SAT for solving structured instances, this technology has not yet been extended to Max-SAT. In this paper, we have incorporated a module that learns hard clauses in a bra...

A constraint satisfaction problem involves finding values for variables subject to constraints on which combinations of values are allowed. In some cases it may be impossible or impractical to solve these problems completely. We may seek to partially solve the problem in an "optimal" or "sufficient" sense. A formal model is presented for defining and studying such partial constraint satisfactio...

In the early 1990s, we proposed the integration of constraint programming and optimization techniques within the branch-and-bound framework for the global optimization of nonconvex nonlinear and mixedinteger nonlinear programs. This approach, referred to as branch-andreduce, was subsequently supplemented with a variety of branching and bounding schemes. In this paper, we review the theory and a...