We were engaged in research in various areas of robotic movement planning. The movement planning problems investigated were static movement problems (where the obstacles do not move), minimum distance path planning, compliant motion control (which involves planning without complete knowledge of the position of the robot) and related frictional movement problems, motion planning with independent...

Planning systems are typically told what goals to pursue and cannot modify them. Some methods (e.g., for contingency planning, dynamic replanning) can respond to execution failures, but usually ignore opportunities and do not reason about the goals themselves. Goal-Driven Autonomy (GDA) relaxes some common assumptions of classical planning (e.g., static environments, fixed goals, no unpredictab...

Inspection planning is an important activity in process industries, and one of the key tools used for such planning is the risk based inspection (RBI) methodology. The RBI is commonly used in planning of inspections for static mechanical equipment, in particular piping networks. The inspections are prioritized based on risk, expressed as expected values, integrating the likelihood and consequen...

Planning Domain Definition Language (PDDL) is the most used language to encode and solve planning problems. In this paper we propose two PDDL-like languages that extend PDDL with new constructs such as static causal laws and time fluents with the aim of improving the expressivity of PDDL language. We study the complexity of the main computational problems related to the planning problem in the ...

In this paper, we study theory and implementation issues of dual-arm manipulation planning. We mainly discuss on three topics: (1) static geometrical approach on planning the position/orientation an object placed at the designated part on the environment, (2) pick-and-place planning of a dualarm manipulator where the planner automatically determines whether both arms have to be used simultaneou...

This paper describes a method for analyzing STRIPS-like planning domains by identifying static graphs that are implicit in the set of operators defining a planning domain. A graph consisting of nodes and possibly directed edges is a common way to construct representations for many problems, including computational problems and problems of reasoning about action. Furthermore, there may be object...

In this paper a new solution for the routing, ber, wavelength and time slot assignment problem (RFWTA) is proposed for a static WDM network. A set of electronic requests characterized by different bit-rates are groomed on lightpaths by a TDM-scheme, designing the logical topology so that the lightpath bandwidth is eÆciently exploited. An eÆcient TDM-based mapping of low granularity electronic c...

An unmanned aerial vehicle (UAV) is a robotic aircraft that can fly with either a remote input from a ground-based operator, or autonomously without human intervention based on pre-programmed flight plans (How et al., 2004). UAVs offer advantages over conventional manned vehicles in many applications because they can be used in situations otherwise too dangerous for manned vehicles and without ...

Tensegrity-based robots can achieve locomotion through shape deformation and compliance. They are highly adaptable to surroundings, have light weight, low cost and high endurance. Their high dimensionality and highly dynamic nature, however, complicate motion planning. So far, only rudimentary quasi-static solutions have been achieved, which do not utilize tensegrity dynamics. This work explore...

The paper presents investigations concerning an important problem of mobile robot control using visual feedback. Two main topics are considered: a collision-free path planning and posture tracking on the basis of pictures obtained from static monochromatic camera. A collision-free path is determined off-line in multiprocessor system using the artificial potential field method. Parallel algorith...