An Unmanned Aerial Vehicle (UAV) has to possess three abilities to function autonomously. The three abilities are localization, mapping and path planning. Path planning guides the UAV to find a feasible path, meaning a path that meets safety, kinematic and optimization constrains. In order to intercept a moving target, dynamic path planning must be used due to target movement. To produce a feas...

This research presents a collaborative evolutionary planning framework for large scale grid exploration and planning problems. It caters for both dynamic and unknown environments using evolutionary techniques. In addition, we integrate the exploration and planning process in a unified framework using multi agent system. As a proof of success, we have developed extensive simulations with realist...

Robust robot motion planning in dynamic environments requires that actions be selected under real-time constraints. Existing heuristic search methods that can plan high-speed motions do not guarantee real-time performance in dynamic environments. Existing heuristic search methods for realtime planning in dynamic environments fail in the highdimensional state space required to plan high-speed ac...

This document is a thesis on the subject of single-agent on-line path planning in continuous,unpredictable and highly dynamic environments. The problem is finding and traversing a collision-free path for a holonomic robot, without kinodynamic restrictions, moving in an environment with several unpredictably moving obstacles or adversaries. The availability of perfect information of the environm...

Markov decision processes (MDPs) have become the de facto standard model for decision-theoretic planning problems. However, classic dynamic programming algorithms for MDPs [22] require explicit state and action enumeration. For example, the classical representation of a value function is a table or vector associating a value with each system state; such value functions are produced by iterating...

We present a method for trajectory planning and control of planar robots with a passive rotational last joint. These underactuated mechanical systems, which are subject to nonholonomic second-order constraints, are shown to be fully linearized and input-output decoupled by means of a nonlinear dynamic feedback. This objective is achieved in a unified framework, both in the presence or absence o...

This paper presents a concurrent approach for solving dynamic programming optimization problems such as the generation of optimal cost-to-go functions for robot motion planning in dense environments. Such optimization techniques are core to many robotics problems, but traditional approaches are inherently impractical due to their computational complexity. This limitation usually results in a co...

Providing safety guarantees for autonomous vehicle navigation is an ultimate goal for motion planning in dynamic environments. However, due to factors such as robot and obstacle dynamics, e.g., speed and nonlinearity, obstacle motion uncertainties, and a large number of moving obstacles, identifying complete motion planning solutions with collision-free safety guarantees is practically unachiev...

This chapter intends to give an overview of the literature on dynamic lot-sizing models and stochastic transshipment models. These two types of models are used as a basis for developing models with substitution in the following chapters. Section 2.1 contains a classification of models for dynamic lot-sizing / production planning, and selected models. In Sect. 2.2, we give a brief overview of av...

This chapter intends to give an overview of the literature on dynamic lot-sizing models and stochastic transshipment models. These two types of models are used as a basis for developing models with substitution in the following chapters. Section 2.1 contains a classification of models for dynamic lot-sizing / production planning, and selected models. In Sect. 2.2, we give a brief overview of av...