Optimization fabrics are a geometric approach to real-time local motion generation, where motions designed by the composition of several differential equations that exhibit desired behavior. We generalize this framework dynamic scenarios and nonholonomic robots prove fundamental properties can be conserved. show convergence trajectories avoidance moving obstacles guaranteed using simple constru...

We present the open-source software framework in JModelica.org for numerically solving large-scale dynamic optimization problems. The framework solves problems whose dynamic systems are described in Modelica, an open modeling language supported by several different tools. The framework implements a numerical method based on direct local collocation, of which the details are presented. The imple...

Interval narrowing techniques are a key issue for handling constraints over real numbers in the logic programming framework. However, the standard xpoint algorithm used for computing an approximation of arc consistency may give rise to cyclic phenomena and hence to problems of slow convergence. Analysis of these cyclic phenomena shows: 1) that a large number of operations carried out during a c...

In this chapter we introduce a new ant colony algorithm aimed at continuous and dynamic problems. To deal with the changes in the dynamic problems, the diversification in the ant population is maintained by attributing to every ant a repulsive electrostatic charge, that allows to keep ants at some distance from each other. The algorithm is based on a continuous ant colony algorithm that uses a ...

Dynamic optimization refers to the runtime optimization of a native program binary. This paper describes the design and implementation of Dynamo, a prototype dynamic optimizer that is capable of optimizing a native program binary at runtime. Dynamo is a realistic implementation, not a simulation, that is written entirely in user-level software, and runs on a PA-RISC machine under the HPUX opera...