optimal capacitor placement, considering power system loss reduction, voltage profile improvement, line reactive power decrease and power factor correction, is of particular importance in power system planning and control. the distribution system operator calculates the optimal place, number and capacity of capacitors based on two major purposes: active power loss reduction and return on invest...

To operate in natural environmental settings, autonomous mobile robots need more than just the ability to navigate in the world, react to perceived situations or follow pre-determined strategies: they must be able to plan and to adapt those plans according to the robot’s capabilities and the situations encountered. Navigation, simultaneous localization and mapping, perception, motivations, plan...

Autonomous systems in uncertain dynamic environments must reconfigure themselves in response to unanticipated events and goals in real-time. We present an approach to reactive configuration planning based on the principle of decomposition. Reactive plans are susceptible to exponential state space explosion. We address this problem through transition-based decomposition by generating compact dec...

Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission specifications makes the problem computationally intractable. This paper presents a reactive integrated mission and motion planning for mobile-robot manipul...

This research is concerned with problems where an agent is situated in a stochastic world without prior knowledge of the world’s dynamics. The agent must act in such a way so as to maximize its expected discounted reward over time. The state and action spaces are extremely large or infinite, and control decisions are made in continuous time. The objective of this research is to create a system ...