In this paper we present a framework for analyzing and determining robot motion plans for situations in which the robot is aaected by an environment that prob-abilistically changes over time. In general, motion planning under uncertainty has recently received substantial interest, and in particular a changing-environment has been recognized as an important aspect of motion planing under uncerta...

A new approach to the motion planning problems of mobile robots in uncertain dynamic environments based on the behavior dynamics is proposed. The fundamental behavior of a mobile robot in motion planning, which is regarded as a dynamic process of the interaction between the robot and its local environment, is modeled and controlled for the motion planning purpose. The behavior dynamics is the l...

Epistemic planning can be used for decision making in multi-agent situations with distributed knowledge and capabilities. Recently, Dynamic Epistemic Logic (DEL) has been shown to provide a very natural and expressive framework for epistemic planning. We extend the DEL-based epistemic planning framework to include perspective shifts, allowing us to define new notions of sequential and condition...

Standard algorithms for finding the short­ est path in a graph require that the cost of a path be additive in edge costs, and typically assume that costs are determinis­ tic. We consider the problem of uncertain edge costs, with potential probabilistic de­ pendencies among the costs. Although these dependencies violate the standard dynamic­ programming decomposition, we identify a weaker stocha...

We consider a novel class of applications where a set of activities conducted by a group of people over a time period needs to be planned, taking into account each member’s preference. We refer to the decision process that leads to such a plan as package planning. The problem differs from a number of well-studied AI problems including standard AI planning and decision-theoretic planning. We pre...

This paper proposes a global pathand motion-planning algorithm that enables inchworm-like robots to navigate their way up tree branches. The intuitive climbing space representation method proposed here greatly simplifies the path-planning problem. The dynamic programming algorithm can be used to identify the optimal path leading to the target position in the target direction according to the co...

this research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (tlrfm) for dynamic object manipulation (dom) missions. for the first time, achievement of dom task using a rotating one flexible link robot was taken into account in [20]. the authors do not aim to contribute on either trajectory tracking or vibration control of the end-...

in dea to obtain an efficient representation in ccr andbcc models for each dmu only one linear plan would be solved; however,it is possible in centralized resource allocation (cra) to solve allthe dmus by one linear planning. in this paper, models of centralizedresource allocation in input-oriented and in dynamic case will be offeredand by using dynamic sbm, the representation of dmus in each t...

Path planning is the key task in the field of Robotics. The modelling environment and algorithm to find shortest, collision free path are the basic issues in the path planning problem of the robot motion planning. This paper presents a literature review of different path planning techniques in static as well as dynamic environment. Planning a path in static environment is easy as compared to dy...

A self-aware aerospace vehicle can dynamically adapt the way it performs missions by gathering information about itself and its surroundings and responding intelligently. Achieving this DDDAS paradigm enables a revolutionary new generation of self-aware aerospace vehicles that can perform missions that are impossible using current design, flight, and mission planning paradigms. To make self-awa...