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...

we consider the queueing maximal covering location-allocation problem (qm-clap) with an m/m/1 queueing system. we propose a new solution procedure based on decomposition of the problem into smaller sub-problems. we solve the resulting sub-problems both with a branch and bound algorithm and with the meta-heuristic grasp. we also solve the entire model with grasp. computational results for these ...