in iran, new centralization characteristic, especially during pahlavi dynasty, has been convergence and its vast use in bureaucracy. historical sociological studies have consensus on the issues of centralization, power centralization, and political sovereignty in iran; however, these issues have some divisional interruptions and different levels of strength in some parts of the history. this es...

In the course of globalization, many enterprises change their strategies and are coupled in partnerships with suppliers, subcontractors and customers. This coupling forms supply chains comprising several geographically distributed production facilities. Production planning in a supply chain is a complicated and difficult task, as it has to be optimal both for the local manufacturing units and f...

Abslrucl A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in...

A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in their en...

We consider how to plan optimally in a testbed, multiagent expedition (MAE), by centralized or distributed computation. As optimal planning in MAE is highly intractable, we investigate speedup through partial evaluation of a subset of plans whereby only the intended effect of a plan is evaluated when certain conditions hold. We apply this technique to centralized planning and demonstrate signif...

this paper considers the spatial planning system in russian federation. study of spatial planning system of russia specifies three different stages from each other. the first phase consists of the sixteenth century until the early twentieth century. in this period, base of the spatial planning was formed and gradually developed during approximately 400 years. the next phase is devoted to soviet...

Moving a crowd of robots or avatars from their current configurations to some destination area without causing collisions is a challenging motion-planning problem because the high degrees of freedom involved. Two approaches are often used for this type of problems: decoupled and centralized. The tradeoff of these two approaches is that the decoupled approach is considered faster while the centr...

This work makes two contributions to geometric motion planning for multiple robots: i) Motion plans are computed that simultaneously optimize an independent performance measure for each robot; ii) A general spectrum is deened between decoupled and centralized planning, in which we introduce coordination along independent roadmaps. By considering independent performance measures, we introduce a ...