For smart traffic applications like dynamic route planning, communication between traffic participants is of high importance. Traditional approaches rely on centralized, serverbased communication architectures, which raises scalability and privacy concerns. To address these problems, we proposed OverDrive [5], an overlay-based geocast service that is applicable in smart traffic scenarios and no...

while conventional data envelopment analysis models set targets separately for each decision making unit, centralized recourse allocation model is presented where there is a centralized decision maker that supervises all the operating units. optimizing of total input consumption and total output production is the main aim of this model. in this paper, firstly the centralized output production m...

Cooperative pathfinding is a multi-agent path planning problem where a group of vehicles searches for a corresponding set of non-conflicting space-time trajectories. Many of the practical methods for centralized solving of cooperative pathfinding problems are based on the prioritized planning strategy. However, in some domains (e.g., multi-robot teams of unmanned aerial vehicles, autonomous und...

While the conventional DEA based production plans aim to minimize all the inputs consumption and maximize all the outputs production, there are many real world production systems may also generate undesirable by-products. One methodological difficulty associated with the previous DEA-based production planning models is how to incorporate undesirable factors in the planning models, while the sim...

The standard DEA model allows different DMU units to set their own priorities for the inputs and outputs that form part of the efficiency assessment. In the case of a centralized organization with many outlets, such as an education authority that is responsible for many schools, it may be more sensible to operate in the most efficient way, but under a common set of priorities for all DMUs. The ...

In this paper, we consider the problem of tasking large numbers of homogenous robots to move to a set of specified goal locations, addressing both the assignment and trajectory planning subproblems concurrently. This is related to the standard linear Euclidean assignment problem except that the solution to the trajectory generation subproblem must result in timeparameterized trajectories and gu...

This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM) planner that is: single-query – instead of pre-computing a roadmap covering the entire free space, it uses the two input query configurations to explore as little space as possible; bi-directional – it explores the robot’s free space by building a roadmap made of two trees rooted at the query configurations...

Experiences from urban development plans and assessments of their concrete and tangible results in the past decades indicate lack of adequate success of our urbanization system to responding needs of our citizens. This has resulted in need to find a fundamental solution to transforming the centralized system into decentralized. Recent changes in regard to a change of approach from master plan t...

This paper describes the design and implementation of TH-MOS Teen-Size humanoid robot, including the basic specifications, control system, gait planning and vision-based motion control strategy. The robot adopts a centralized control system, layout, coordination and implement are fulfilled by a high performance PC104 embedded computer.