in this paper, a new online robot motion planner is developed for systematically exploring unknown environâ¬ments by intelligent mobile robots in real-time applications. the algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. it does so by online calculation of the generalized voronoi graph (gvg) of the free space, and utilizing a combination of depth-first an...

In recent years, significant research efforts have been devoted to the optimal planning of power systems. Substation Expansion Planning (SEP) as a sub-system of power system planning consists of finding the most economical solution with the optimal location and size of future substations and/or feeders to meet the future demand. The large number of design variables, and combination of discrete ...

Classical planning problems consist of an environment in a predefined state; a set of deterministic actions that, under certain conditions, change the state of the environment; and a set of goal conditions. A solution to a classical planning problem is a sequence of actions that leads from the initial state to a state satisfying the problem’s goal conditions. There are many methods for finding ...

Agent-based systems require flexibility to perform effectively in complex and dynamic environments. When appropriate, agents should be able to take initiative for completing assigned tasks in the absence of supervisory input. Agents should also be able to determine if they can efficiently achieve a goal alone or if they need assistance from other agents in their system. In response to these dec...

One subclass of human computation applications are those directed at tasks that involve planning (e.g. tour planning) and scheduling (e.g. conference scheduling). Interestingly, work on these systems shows that even primitive forms of automated oversight on the human contributors helps in significantly improving the effectiveness of the humans/crowd. In this paper, we argue that the automated o...

An emerging application of human computation concerns that all too human of activities – planning. At first glance, crowdsourced planning applications appear to have very little to do with existing automated planning methods, since they seem to depend solely on human planners. However, a deeper look at these applications shows that most of them use primitive automated components in order to enf...

Compact representations of objects is a common concept in computer science. Automated planning can be viewed as a case of this concept: a planning instance is a compact implicit representation of a graph and the problem is to find a path (a plan) in this graph. While the graphs themselves are represented compactly as planning instances, the paths are usually represented explicitly as sequences ...

We have previously developed a new method for generating collision-free paths for robots operating in changing environments. Our approach relies on creating a representation of the configuration space that can be easily modified in real time to account for changes in the environment. In this paper we address the issues of efficiency and robustness. First, we develop a novel, efficient encoding ...