Obstacle avoidance and robot path planning problems have gained sufficient research attention due to its indispensable application demand in manufacturing vis-à-vis material handling sector, such as picking-andplacing an object, loading / unloading a component to /from a machine or storage bins. Visibility map in the configuration space (c-space) has become reasonably instrumental towards solvi...

This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information with a sensor-based motion planning system. The contribution in the modeling aspect is a formulation of the detection and tracking of mobile objects and the mapping of the static structure in such a way that the nature (static/dynamic) of the observations is included in the estimati...

Planning is a very important AI problem, and it is also a very time-consuming AI problem. To get an idea of how complex diierent planning problems are, it is useful to describe the computational complexity of diierent general planning problems. This complexity has been described for problems in which the result res(a; s) of applying an action a to a system in a state s is uniquely determined by...

We address global motion planning for quasi-static reorientation of convex objects (polyhedral and smooth objects) with a four-fingertip grasp. We make use of a simple humanlike manipulation strategy in which a single finger is moved at each instant while the other three are maintained fixed (with regard to the palm)—an extended version of the original finger-tracking scheme of Rus. This new ve...

In this paper, static and expansion planning of electric power distribution networks were studied using a novel Particle Swarm Optimization (PSO) algorithm under load uncertainty is presented. This paper consists of two sections. At first by using a novel PSO algorithm, static and mono objective planning was solved for electric distribution network. This work involves both network topology and ...

Purpose – The problem of Wavelength Division Multiplexing (WDM) network planning for a given set of lightpath demands in a mesh topology network is to select lightpath routes and then allocate wavelength channels to the lightpaths. In WDM network planning, a scenario study is to find out the network performance under different lightpath demands and/or different network resource configurations. ...

This paper addresses the dexterous manipulation-planning problem, which deals with motion planning for multi-fingered hand manipulating objects among static obstacles, under quasi-static movement assumption. We propose a general manipulation approach capable to compute object and finger trajectories as well as the finger relocation sequence, in order to link any two given configurations of the ...

Volumetric modulated arc therapy (VMAT) has found widespread clinical application in recent years. A large number of treatment planning studies have evaluated the potential for VMAT for different disease sites based on the currently available commercial implementations of VMAT planning. In contrast, literature on the underlying mathematical optimization methods used in treatment planning is sca...

Since the early 1990s, organizations have focused on making smarter decisions in their integrated supply chain central planning, but the representation of capacity and cycle time has remained static and linear in contrast to its complex nature. This includes central planning for firms with semiconductor fabrication facilities (FABS) as a component of a complex demand supply network(DSN) where m...

Performing aerial 6-dimensional manipulation using flying robots is a challenging problem, to which only little work has been devoted. This paper proposes a motion planning approach for the reliable 6-dimensional quasi-static manipulation with an aerial towed-cable system. The novelty of this approach lies in the use of a cost-based motion-planning algorithm together with some results deriving ...