This paper proposes a new planning architecture for agents operating in uncertain and dynamic environments. Decisiontheoretic planning has been recognized as a useful tool for reasoning under uncertainty; it calculates an optimal plan using a given planning model (state set, action set, probability distributions over possible state transitions, and utility function). In a dynamic environment, h...

Presented is a new approach to multi-robot motion planning that is based on the concept of planning within dynamic robot networks. The system enables multiple mobile robots that have limited ranges of sensing and communication to maneuver safely in dynamic, unstructured environments. As the robots move about their workspace, localized robot groups form networks within which world models can be ...

this paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for omni-directional robots. the aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. first, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms t...

It is shown that the model of twoor multistage programming undi^r risk results from the application of the principle of dynamic planning* in special structured dynamic decision situations under risk. By u ^ing this property, some characteristics of the solution set of dynamic planning problems will be derived. *This principle is well known and discussed as "flexible Planung" in the German manag...

This paper proposes a new planning architecture for agents operating in uncertain and dynamic environments. Decisiontheoretic planning has been recognized as a useful tool for reasoning under uncertainty; it calculates an optimal plan using a given planning model (state set, action set, probability distributions over possible state transitions, and utility function). In a dynamic environment, h...

IndiGolog is a high-level programming language for robots and intelligent agents that supports on-line planning and plan execution in dynamic and incompletely known environments. Programs may perform sensing actions that acquire information at runtime and react to exogenous actions. In this paper, we show how IndiGolog can be used to write robot control programs that combine planning, sensing, ...

Many applications in mobile robotics require the safe execution of a collision-free motion to a goal position. Planning approaches are well suited for achieving a goal position in known static environments, while real-time obstacle avoidance methods allow reactive motion behavior in dynamic and unknown environments. This paper proposes the global dynamic window approach as a generatlization of ...

This paper discusses the place of GTE as an approach for bridging the gap between CAL and ITS systems. It presents the DCG, our architecture for dynamic courseware generation which allows dynamic planning of the contents of an instructional course with a given goal. Finally a further development of DCG by combining it with GTE is described which includes explicit representation of generic teach...

The process of production planning and control contributes significantly to the efficiency of modern production systems. However, common central planning methods in industrial application show deficits in complex and dynamic production environments. In contrast to prevailing central control methods, approaches of autonomous control offer the chance to cope with these dynamic conditions more eff...