We consider the problem of planning motions of a simple legged robot called the spider robot. The robot is modelled as a point where all its legs are attached, and the footholds where the robot can securely place its feet consist of a set of n points in the plane. We show that the space F of admissible and stable placements of such robots has size (n 2) and can be constructed in O(n 2 log n) ti...

Case-based planning involves storing individual instances of problem-solving episodes and using them to tackle new planning problems. This paper is concerned with derivation replay, which is the main component of a form of case-based planning called derivational analogy (DA). Prior to this study, implementations of derivation replay have been based within state-space planning. We are motivated ...

Case-based planning involves storing individual instances of problem-solving episodes and using them to tackle new planning problems. This paper is concerned with derivation replay, which is the main component of a form of case-based planning called derivational analogy (DA). Prior to this study, implementations of derivation replay have been based within state-space planning. We are motivated ...

One of the most promising trends in Domain Independent AI Planning, nowadays, is state-space heuristic planning. The planners of this category construct general but efficient heuristic functions, which are used as a guide to traverse the state space either in a forward or a in backward direction. Although specific problems may favor one or the other direction, there is no clear evidence why any...

There are many applications in motion planning where it is important to consider and distinguish between different topological classes of trajectories. The two important, but related, topological concepts for classifying manifolds that are of importance to us are those of homotopy and homology. In this paper we consider the problem of robot exploration and planning in Euclidean configuration sp...

Several aspects of managing a sensor network (e.g., motion planning for data mules, serial data fusion and inference) benefit once the network is linearized to a path. The linearization is often achieved by constructing a space filling curve inside the domain. But existing methods cannot handle networks distributed on surfaces of complex topology. This paper presents a novel method for generati...

For pairs of density operators on finite dimensional Hilbert spaces we define partial fidelities, prove their concavity and other properties. Partial fidelities characterize equivalence classes which are partially ordered in a natural way.

We will de ne states as descriptions of all environmental situations and operators as those things which transform one state into another. We will then introduce a state-space approach[4] and solve problems by conducting searches from the initial state to the goal state. Fig.3 represents applications of this framework to an intelligent manipulation system which can pick, place, slide, and dexte...