This paper addresses adaptive, on-line path planning of an autonomous underwater vehicle and presents a GA-based method for it. It is an important module of SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions) which is being developed at the University of Hawaii and will be capable of exploring the ocean at up to 6,000 m depth. In SAUVIM, a genetic algorithm (GA) is employed in...

This paper presents a component of the on-line tasklevel planning system of the mobile, two-arm robot KAMRO, which is being developed at our Institute. This component generates sequences of explicit robot motions for achieving the goals of elementary assembly operations, and supervises their execution by the real-time robot control system, according to implicitly specified pick-and-place operat...

This paper proposes genetic algorithms (GAs) for path planning and trajectory planning of an autonomous mobile robot. Our GA-based approach has an advantage of adaptivity such that the GAs work even if an environment is time-varying or unknown. Therefore, it is suitable for both o -line and on-line motion planning. We rst presents a GA for path planning in a 2D terrain. Simulation results on th...

Symbolic representations have been used successfully in off-line planning algorithms for Markov decision processes. We show that they can also improve the performance of online planners. In addition to reducing computation time, symbolic generalization can reduce the amount of costly real-world interactions required for convergence. We introduce Symbolic Real-Time Dynamic Programming (or sRTDP)...

This paper elaborates on the coordination and management of evolving software product-lines, where development teams work around a shared and reusable domain infrastructure. The trend away from monolithic applications and towards component-based, product-line architectures has enabled the development of complex software to be undertaken by autonomous and often, geographically separated teams. T...

The line planning problem is one of the fundamental problems in strategic planning of public and rail transport. It consists in finding lines and corresponding frequencies in a network such that a given demand can be satisfied. There are two objectives. Passengers want to minimize travel times, the transport company wishes to minimize operating costs. We investigate three variants of a multi-co...

We propose a novel extended formulation for the line planning problem in public transport. It is based on a new concept of frequency configurations that account for all possible options to provide a required transportation capacity on an infrastructure edge. We show that this model yields a strong LP relaxation. It implies, in particular, general classes of facet defining inequalities for the s...

An important strategic element in the planning process of a railway operator is the development of a line plan, i.e. a set of routes (paths) on the network of tracks, operated at a given hourly frequency. The models described in the literature have thus far considered only lines that halt at all stations along their route. In this paper we introduce several models for solving line planning prob...