Asymptotically optimal motion planners guarantee that solutions approach optimal as more iterations are performed. There is a recently proposed roadmap-based method that provides this desirable property, the PRM∗ approach, which minimizes the computational cost of generating the roadmap. Even for this method, however, the roadmap can be slow to construct and quickly grows too large for storage ...

Agent oriented software engineering (AOSE) is an emerging field in computer science  and  proposes some systematic ideas for multi agent systems analysis, implementation and maintenance. Despite the various methodologies introduced in the agent-oriented software engineering, the main challenges are defects in different aspects of methodologies. According to the defects resulted from weaknesses ...

The concept of redevelopment is accompanied by actions and forecasts to improve the quality of the physical-spatial environment inthe cities, that is by the emergence of new facilities and conditions, improving the spatial environment is achieved. This requirement occurs when the coherence, coordination and the performance of the urban area is diminishing and is not responsive to the requiremen...

There are many sampling-based motion planning methods that model the connectivity of a robot’s configuration space (C-space) with a graph (or roadmap) whose nodes are valid configurations and whose edges represent sequences of valid configurations for moving between nodes. Many planning strategies have been proposed to construct roadmaps. Although their authors have discussed planner strengths ...

All you need is the plan, the roadmap, and the courage to press on to your destination. 2 Dieses Werk ist urheberrechtlich geschützt. Die dadurch begründeten Rechte, insbesondere die der Übersetzung, des Nachdrucks, der Entnahme von Abbildungen, der Funksendung, der Wiedergabe auf fotomechanischem oder ähnlichem Wege, der Speicherung in Datenverarbeitungsanlagen sowie die Über-mittlung mittels ...

This work prescribes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG is a roadmap of a static environment; recall that a roadmap is a one-dimensional representation of an environment which the robot can use to plan a path between any two points in that environment. Once ...

In order for robots to operate safely in human environments, they need to be able to react to a dynamically changing environment in real-time. This involves both fast processing of sensor data and fast motion planning based on the sensor data. This work describes the implementation of a path planner for a 7-DOF robot arm, which is able to react to a dynamic environment very quickly. A SwissRang...

1. The purpose of this paper is to describe the roadmap for work to be undertaken as part of the Feasibility Study for an OECD Assessment of Higher Education Learning Outcomes (AHELO). This roadmap was put together following the advice of experts that met on three occasions in 2007 to provide guidance for a strategy [see EDU(2007)8, EDU(2007)9 and EDU(2007)14]. Planning for the AHELO feasibilit...

Astroparticle physics has evolved as an interdisciplinary field at the intersection of particle physics, astronomy and cosmology. Over the last two decades, it has moved from infancy to technological maturity and is now envisaging projects on the 100 Million Euro scale. This price tag requires international coordination, cooperation and convergence to a few flagship projects. The Roadmap Commit...

We introduce a new control law for robots that explore unknown environments and con guration spaces. Unlike numerical continuation methods, which produce a jagged path because of the predictor-corrector approach, the control law, introduced in this paper, performs sensor based planning by directing the head of a robot to follow continuously a roadmap. Recall that a roadmap is a one-dimensional ...