We address the motion planning problem for a single robot that manipulates passive objects in an otherwise static environment. We handle uncertainties in passive object responses while abstracting their dynamics by creating a roadmap that encodes the possible passive object responses. The robot extracts reference paths from the passive roadmap to plan approaching motions with an active roadmap....

The FIREBALL project explores the impact of the Future Internet technologies on Smart Cities. This paper proposes a smart cities innovation roadmap framework and recommendations for urban development enabled by future Internet technologies. The roadmap framework aims to support the innovation policies and strategies of cities towards becoming “smart”. The innovation roadmap is based on a system...

This paper presents a new randomized roadmap method for motion planning for many dof robots that can be used to obtain high quality roadmaps even when C-space is crowded. The main novelty in our approach is that roadmap candidate points are chosen on C-obstacle surfaces. As a consequence, the roadmap is likely to contain difficult paths, such as those traversing long, narrow passages in C-space...

We introduce a hierarchical variant of the probabilistic roadmap method for motion planning. By recursively refining an initially sparse sampling in neighborhoods of the C-obstacle boundary, our algorithm generates a smaller roadmap that is more likely to find narrow passages than uniform sampling. We analyze the failure probability and computation time, relating them to path length, path clear...

This paper presents a randomized motion planner for kinodynamic asteroid avoidanceproblems, in which a robot must avoid collision with moving obstacles under kinematic, dynamic constraints and reach a specified goal state. Inspired by probabilistic-roadmap (PRM) techniques, the planner samples the state time space of a robot by picking control inputs at random in order to compute a roadmap that...

We consider planning optimal collision-free motions of two polygonal robots under translation. Each robot has a reference point that must lie on a given graph, called a roadmap, which is embedded in the plane. The initial and the goal are given for each robot. Rather than impose an a priori cost scalarization for choosing the best combined motion, we consider finding motions whose cost vectors ...

OBJECTIVE To present a collaboration process for creating a roadmap for the implementation of a strategy for integrated health and social care. The developed collaboration process includes multiple phases and uses electronic group decision support system technology (GDSS). METHOD A case study done in the South Karelia District of Social and Health Services in Finland during 2010-2011. An expe...

The so-called " TSE roadmap " was published by the European Commission on 15th July 2005. The TSE roadmap suggests relaxations of BSE measures in the short, medium and long-term. According to the TSE roadmap " any relaxation of BSE measures following the scientific assessment should be initiated by an open discussion with all stakeholders and supported by a strong communication strategy " (Euro...

This paper derives from research-in-progress intending both Design Research (DR) and Design Science (DS) outputs; the former a management decision tool based in IS-Impact (Gable et al. 2008) kernel theory; the latter being methodological learnings deriving from synthesis of the literature and reflection on the DR ‘case study’ experience. The paper introduces a generic, detailed and pragmatic DS...