An important aspect of partial-order planning is the resolution of threats between actions and causal links in a plan. We present a technique for automatically deciding which threats should be resolved during planning, and which should be delayed until planning is otherwise complete. In particular we show that many potential threats can be provably delayed until the end; that is, if the planner...

â  monetary policy rule is an approach to avoid time inconsistency problem as regarded by new classical economist to choose a time plan for policy making in order to maximize households’ well-being. the foundation of time inconsistency problem is not coincidence of expectations as an ex-ante variable, which is expected variable, with actual variable as an ex-post variable. expectations in fin...

Optimized motion planning of the manipulators with regards to their energy consumption level is a challenging problem in robotics which requires a combination of interdisciplinary studies to offer a solution. In this article, a framework is developed to design a motion planner implementing a proposed search algorithm and simulate the robot motion in different environments. The superiority of th...

In real world scenarios for mobile robots, socially acceptable navigation is a key component to interact naturally with other persons. On the one hand this enables a robot to behave more human-like, and on the other hand it increases the acceptance of the user towards the robot as an interaction partner. As part of this research field, we present in this paper a strategy of approaching a person...

the last decade has been the very impressive scaleup in planner performance. A large part of the credit for this can be attributed squarely to the invention and deployment of powerful reachability heuristics. Most, if not all, modern reachability heuristics are based on a remarkably extensible data structure called the planning graph, which made its debut as a bit player in the success of Graph...

In recent times, there has been an increase in the number of Natural Language Generation systems that take into consideration a user's inferences. The statements generated by these systems are typically connected by inferential links, which are opportunistic in nature. In this paper, we describe a discourse structuring mechanism which organizes inferentially linked statements as well as stateme...

In this paper, we introduce plan-graph based heuristics to solve a variation of the conformant probabilistic planning (CPP) problem. In many real-world problems, it is the case that the sensors are unreliable or take too many resources to provide knowledge about the environment. These domains are better modeled as conformant planning problems. POMDP based techniques are currently the most succe...

Graspless (or nonprehensile) manipulation is a method to manipulate objects without grasping. It includes pushing, tumbling and pivoting. Graspless manipulation is important as a complement of conventional pick-and-place for the dexterity of robots. In this paper, we propose a method of planning of general graspless manipulation by multifingered robot hands; the method can automatically generat...

In recent times, there has been an increase in the number of Natural Language Generation systems that take into consideration a user’s inferences. The statements generated by these systems are typically connected by inferential links, which are opportunistic in nature. In this paper, we describe a discourse structuring mechanism which organizes inferentially linked statements as well as stateme...

For a robot trying to reach places in at least partially unknown environments there is often a need to replan paths online based on information extracted from the surroundings. In this paper is is assumed that the sensing range of the robot is short compared to the length of the paths it plans and the environment is modeled as a graph consisting of nodes and arcs. The replanning problem is solv...