We explain how some recent results on the design of controls for nonoholomic systems without drift can be extended to some classes of sytems with drift. In particular, we show that a dynamic extension of a driftless system that satisses the Lie algebra rank condition necessary satisses algebraic suucient conditions for small-time local controllability at all its equilibrium points.

Dynamic planning concerns the planning and execution of actions in a dynamic, real world environment. Its goal is to take into account changes generated by unpredicted events occurred during the execution of actions. In this paper we develop the theoretic model of dynamic planning presented in [12]. This model proposes a graph representation of possible, efficient and best plans of agents actin...

−− This paper presents a new Fuzzy Dynamic Programming model that calculates the optimum solution of problems with uncertainties in data defined by fuzzy sets. The result includes the determination of an Intrinsic Risk Threshold of the solution. Extrinsic Risk Thresholds may also be set by a Decision Maker, in order to obtain more robust solutions. The technique is applied to the calculation of...

In recent years, significant research efforts have been devoted to the optimal planning of power systems. Substation Expansion Planning (SEP) as a sub-system of power system planning consists of finding the most economical solution with the optimal location and size of future substations and/or feeders to meet the future load demand. The large number of design variables and combination of discr...