This paper proposes a hybrid path planning algorithm incorporating a global and local search mechanism for mobile robot. The global path planning is based on Voronoi graph to establish a backbone path for the map with significantly reduced nodes for the original grid map. With the use of the backbone path, the D* algorithm is adopted to determine a shortest path between the starting and end poi...

Despite the recent advances in planning for classical domains, the question of how to use domain knowledge in planning is yet to be completely and clearly answered. Some of the existing planners use domain-independent search heuristics, and some others depend on intensively-engineered domainspecific knowledge to guide the planning process. In this paper, we describe an approach to combine ideas...

In this article, we try to give an overview about the major changes and shifts that have determined the functioning of the spatial planning system in Romania. In this respect, we use the major legislative acts and the official planning documents from different scales (national, regional, and local) and the personal experiences in the development of different spatial planning documents as major ...

We present some techniques for planning in temporal domains specified with the recent standard languange PDDL2.1. These techniques are implemented in LPG, a fully-automated system that took part in the third International Planning Competition (Toulouse, 2002) showing excellent performance. The planner is based on a stochastic local search method and on a graph-based representation called “Tempo...

This paper presents an algorithm for the microgrid planning as an alternative to the co-optimization of generation and transmission expansion planning in electric power systems. The integration of microgrids in distribution systems will offer a decentralized control of local resources for satisfying the network reliability and the power quality required by local loads. The objective in this pap...

This paper deals with a Hub Location Problem arising in Telecommunication Network Design. The considered network presents two different kinds of nodes: access nodes, that represent source and destination of traffic demands but cannot be directly connected, and transit nodes, that have no own traffic demand but collect traffic from access nodes and route it through the network. Transit nodes are...

Stochastic local search (SLS) algorithms for prepositional satisfiability testing (SAT) have become popular and powerful tools for solving suitably encoded hard combinatorial from different domains like, e.g., planning. Consequently, there is a considerable interest in finding SAT-encodings which facilitate the efficient application of SLS algorithms. In this work, we study how two encodings sc...

When a massive disaster occurs, to repair the damaged part of lifeline networks, planning is needed to appropriately allocate tasks to two or more restoration teams and optimize their traveling routes. However, precedence and synchronization constraints make restoration teams interdependent of one another, and impede a successful solution by standard local search. In this paper, we propose an i...

We consider a real-world cargo assembly planning problem arising in a coal supply chain. The cargoes are built on the stockyard at a port terminal from coal delivered by trains. Then the cargoes are loaded onto vessels. Only a limited number of arriving vessels is known in advance. The goal is to minimize the average delay time of the vessels over a long planning period. We model the problem in...

We consider the issues involved in writing path planners that can work well with complex geometric models of robots and workspaces, and outline our work in implementing a solution. We claim that many path planning problems can be solved by a mixture of global and local planning. In turn, local planning can be usefully supported by the provision of efficient distance computations. Global plannin...