Mobility of sensors can be used to improve the information content of measurements when observing a dynamical system. However, as is shown in this paper, the sensor’s motion may, in fact, lead to increased worst-case estimation error. This paper investigates the relationship between the motion of the sensor and the performance of the observability grammian-based estimator, and provides a motion...

We briefly examine case-based planning starting with the seminal work of Hammond. Derivational analogy represents an important shift of technical emphasis that helped mature the techniques. The choice of abstraction level is equally important. We conclude by discussing theoretical underpinnings and by providing some pointers to current directions.

We introduce a method of deduction-based re-nement planning where prefabricated general solutions are adapted to special problems. Re-nement proceeds by stepwise transforming non-constructive problem speciications into exe-cutable plans. For each reenement step there is a correctness proof guaranteeing the soundness of reenement and with that the generation of prov-ably correct plans. By solvin...

This paper documents )1( the early phases of using systems Engineering to develop a conceptual system – the system being developed is a systems engineering body of knowledge )SEBoK( and )2( the findings and opportunities generated in those early phases. The approach was based on identifying activities specific to systems engineering, as opposed to the broad raft of activities that systems engin...

The purpose of the paper is to introduce a new approach of planning called Assumption-Based Planning. This approach is a very interesting way to devise a planner based on a multi-agent system in which the production of a global shared plan is obtained by conjecture/refutation cycles. Contrary to classical approaches, our contribution relies on the agents reasoning that leads to the production o...

We introduce a method of deduction-based refinement planning where prefabricated general solutions are adapted to special problems. Refmement proceeds by stepwise transforming nonconstructive problem specifications into executable plans. For each refinement step there is a correctness proof guaranteeing the soundness of refinement and with that the generation of provably correct plans. By solvi...

Robotic motion planning requires configuration space exploration. In high-dimensional configuration spaces, a complete exploration is computationally intractable. To devise practical motion planning algorithms in such high-dimensional spaces, computational resources have to be expended in proportion to the local complexity of a configuration space region. We propose a novel motion planning appr...

This paper presents an approach to domain representation and planning that is fundamentally different from traditional methods an approach based strictly on actions and their interrelationships, rather than on state-based goals and preconditions. In particular, we focus on tile action-based planner COLLAGE, describe its methods for plan-construction, and contrast them with more traditional plan...

Efficient footstep planning for humanoid navigation through cluttered environments is still a challenging problem. Often, obstacles create local minima in the search space, forcing heuristic planners such as A* to expand large areas. Furthermore, planning longer footstep paths often takes a long time to compute. In this work, we introduce and discuss several solutions to these problems. For nav...