We present a novel approach for locally guiding a group of agents amidst static and dynamic obstacles using the concept of prioritized formations. Our approach plans over a joint formation-velocity space employing a Bayesian scheme for evaluating the priority values of formations and a collision avoidance algorithm that accounts for the anisotropic nature of rotating formations. It guarantees c...

One of the most important subjects in relation of water resources quality in the many of river is the chemical composition of waters and conservation of water quality in the watershed. Geological formations in any region of the earth are the main surface and foundation that water flows on the bed and strata of formation, which in fact they affect their characteristics on water quality as positi...

This paper is concerned with the maintenance of rigid formations of mobile autonomous agents. A key element in all future multi-agent systems will be the role of sensor and communication networks as an integral part of coordination. Network topologies are critically important for autonomous systems involving mobile underwater, ground and air vehicles and for sensor networks. This paper focuses ...

In previous work, we demonstrated an algorithm that treats a group of robots as a 1-dimensional cellular automaton, which is able to establish formations defined by a single mathematical function. We now extend the algorithm to establish grid formations.

Given a large number (the “flock”) of moving physical objects, we investigate physically reasonable mechanisms of influencing their orbits in such a way that they move along a prescribed course and in a prescribed and fixed configuration (or “in formation”). Each agent is programmed to see the position and velocity of a certain number of others. This flow of information from one agent to anothe...

vegetation cover as the main factor affecting the water erosion plays an important role in preventingsoil loss. to this end, for better understanding the impact of vegetation cover on soil erosion andsediment yield over the major existing geological formations in the summer rangelands of balade inthe mazandaran province, rainfall simulation studies have been carried out using a portable rainfal...

Whatever else it is, communication research is gendered work. This has been true since its inception as an academic field, and in its commercial, civic, and educational wings as well. The specific gendering of its work has varied across time, region, and institution. But across all contexts, gender and affiliated relations of difference have been constitutive forces in the (re)production of the...

One important task in cooperative robotics is the self–organization of robotic chain formations in unknown environments. Surveillance and reconnaissance in sewers, ducts, tunnels, caves or narrow passageways, in general, are some of the applications for this type of formation. In Hettiarachchi et al. (2008) we provided simulation results for a novel chain formation algorithm that addresses this...

The ergastoplasm (granular endoplasmic reticulum) of parotid acinous cells of the mouse is described with special emphasis on unusual forms of this membranous system. In the majority of the acinous cells the ergastoplasm appeared in sections to consist of a large number of separate flattened cisternae. In some acinous cells, however, the ergastoplasm was disposed as a very small number of large...