1. Introduction This extended abstract describes work at the University of Salford Mobile Robotics Lab with a hybrid architecture which combines a symbolic predictive planner-embodied in a Reflective Agent with no sensing capabilities-with a number of non-symbolic reactive (in fact Behav-ioural) agents-embodied in multiple cooperating mobile robots. As described below, the behavioural agents (B...

In integration of IP and WDM networks, there are two main approaches. One is joint planning approach; the other is joint operation approach. Joint planning typically addresses an optimality problem on total network cost given a certain data traffic pattern and some physical constraints at the network planning stage; while through reconfiguration or real-time setup of lightpaths, joint operation...

The traditional trip based approach to transportation modeling has been employed for the past thirty years. However, due to the limitations of traditional planning for short-term policy analysis, researchers have explored alternative paradigms for incorporating more behavioral realism in planning methodologies. On the demand side, activity-based approaches have evolved as an alternative to trad...

Keeping up with the advancement in hardware technology, the size and complexity of software systems are increasing at a rapid rate, thus, making them difficult to maintain, expand, and evolve. To alleviate such difficulties, change impact analysis (CIA) and its implementations has been the subject of research for several years. Generally, CIA facilitates regression testing. Specifically, CIA he...

Despite major progress in AI planning over the last few years, many interesting domains remain challenging for current planners. This paper presents component abstraction, an automatic and generic technique that can reduce the complexity of an important class of planning problems. Component abstraction uses static facts in a problem definition to decompose the problem into linked abstract compo...

There has been a recent rise in research on real-time planning algorithms. Most of these algorithms address either the issue of response-time constraints or the issue of dynamic environments. We propose a new real-time planning algorithm, DYNORAII, to address both of these issues simultaneously. DYNORAII is structured as a sequence of ‘‘partial planning and execution’’ cycles to avoid obsolesce...

One of the assumptions in classical planning is that the environment is static: i.e., the planner is the only entity that can induce changes in the environment. A more realistic assumption is that the environment is dynamic; that is, there are other entities in the world and the actions generated by the planner may fail due to the operations of these entitites. In this paper, we describe a plan...

We investigate path planning algorithms that are based on level set methods for applications in which the environment is static, but where an a priori map is inaccurate and the environment is sensed in real-time. Our principal contribution is not a new path planning algorithm, but rather a formal analysis of path planning algorithms based on level set methods. Computational costs when planning ...

It is well known that path planning for robots with many degrees of freedom is a complex task. That is the reason why the research on this area has been mostly restricted to static environments. This paper presents a new method for on-line path planning for robotic arms in dynamic environments. Most on-line path planning methods are based on local algorithms that end up being inefficient due to...

We introduce a low-dimensional kinematic abstraction—i.e., template—for miniature legged robots that can be used for quasi-static motion planning in the horizontal plane. The template comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized by the leg touchdown an...