This paper describes a method for qualitatively representing and reasoning about spatial configurations of planar mechanisms. The method has direct relevance to, and implications for, computer-aided mechanism design and robotics. In particular, it can be used to solve spatial configuration problems where exact geometric knowledge is not available, and to provide guidance for the application of ...

This paper presents a path planning algorithm for an articulated planar robot with a static obstacle. The algorithm selects a robot part, finds a path to its goal configuration by systematic configuration space search, drags the entire robot along the path using compliant motion, and repeats the cycle until every robot part reaches its goal. The planner is tested on 11,000 random problems, whic...

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 ...

In the early stages of hospital planning, work processes are typically modelled in a static manner, using flow-charts or business process modelling notation as means. Diagrams of this kind are easily simulated, however, employed process engines lack possibilities for dealing with dynamic aspects of the process which depend on the building layout (e.g. elevators, behaviour of automatic delivery ...

We study a dynamic scenario of the static route planning problem in road networks. Particularly, we put accent on the most practical dynamic case – increased edge weights (up to infinity). We show how to enhance the scope-based route planning approach presented at ESA’11, [16] to intuitively by-pass closures by detours. Three variants of a detour “admissibility” are presented – from a simple on...

We describe a family of recently developed heuristicbased algorithms used for path planning in the real world. We discuss the fundamental similarities between static algorithms (e.g. A*), replanning algorithms (e.g. D*), anytime algorithms (e.g. ARA*), and anytime replanning algorithms (e.g. AD*). We introduce the motivation behind each class of algorithms, discuss their use on real robotic sys...

With the development of information technology, human activities in reality have become more and convenient. In recent years, outdoor positioning location-based services matured. Location based on GPS maps been widely used one most applications various mobile devices. science car navigation has gradually applied to our daily lives. The so-called Vehicle Navigation System uses global system (GPS...

Action description languages, such as A and B (Gelfond and Lifschitz 1998), are expressive instruments introduced for formalizing planning domains and planning problem instances. The paper starts by proposing a methodology to encode an action language (with conditional effects and static causal laws), a slight variation of B, using Constraint Logic Programming over Finite Domains. The approach ...