This article proposes a new approach for centralized path planning of multiple aircraft in presence of the obstacle-laden environment under low flying rules. The problem considers as a unified nonlinear constraint optimization problem. The minimum time and control investigate as the cost functions and the maximum velocity and power consider as the constraints. The pseudospectral method applies ...

Conservation planning is the process of locating, configuring, implementing and maintaining areas that are managed to promote the persistence of biodiversity and other natural values. Conservation planning is inherently spatial. The science behind it has solved important spatial problems and increasingly influenced practice. To be effective, however, conservation planning must deal better with ...

This paper examines path planning strategies in partially unknown dynamic environemnts and introduces an approach to learning innovative routes. The approach is verified against shortest path planning with a distance transform algorithm, local and global replanning and suboptimal route following in unknown, partially unknown, static and dynamic environments. We show that the learned routes are ...

This paper introduces a 1-dimensional network of curves termed the Generalized Voronoi Graph (GVG) and its extension, the Hierarchical Generalized Voronoi Graph (HGVG), which can be used as a basis for a roadmap or retract-like structure. The GVG and HGVG provide a basis for sensor based path planning in an unknown static environment. In this paper, the GVG and HGVG are de ned and some of their...

Many robotic planning applications involve continuous actions with highly non-linear constraints, which cannot be modeled using modern planners that construct a propositional representation. We introduce STRIPStream: an extension of the STRIPS language which can model these domains by supporting the specification of blackbox generators to handle complex constraints. The outputs of these generat...

Although there are many approaches for compiling a planning problem into a static CSP or a scheduling problem, current approaches essentially preserve the structure of the planning problem in the encoding. In this paper we present a fundamentally different encoding that more accurately resembles a scheduling problem. We sketch the approach and argue, based on an example, that it is possible to ...

A new progressive genetic algorithm (PGA) was developed for trajectory planning of a novel limbrobot. The proposed trajectory planning method can be applied to get an optimal joints trajectory from the initial to the end position and orientation. On the basis of the genetic algorithm a new kind of variable structure genetic algorithm (VSGA) is proposed to solve the problem of trajectory plannin...

In the context of robotic path planning, a common strategy is to assume that the world is static and believed on heuristic approaches and obstacle avoidance to deal with changes in the environment. When planning is not considered for potential changes of the environment into account usually leads to poor performances. In this paper, we propose a hybrid ACO-PSO approach that exploits the travers...