Reinforcement Learning (RL) is the study of programs that improve their performance by receiving rewards and punishments from the environment. Most RL methods optimize the discounted total reward received by an agent, while, in many domains, the natural criterion is to optimize the average reward per time step. In this paper, we introduce a model-based Average-reward Reinforcement Learning meth...

We are developing a visually-guided autonomous underwater vehicle. We have implemented a computed torque controller, using Euler parameters, for position and velocity control. This formulation eliminates singularity in the model and controller and offers some degrees of coupling between vehicle degrees of freedom. A calibrated thruster model which computes thrust output from measured voltage an...

Nuclear fusion power plants require periodical maintenance, including the remote handling operations of transportation performed by automated guided vehicles (AGV). The navigation system becomes a key issue given the safety constrains of the heavy load to be transported in the complex scenarios, such as the reactor building. This work presents well-known and mature navigation technologies used ...

Health crisis caused by COVID-19 had a significant impact on the activities and performance of companies worldwide, namely in industries. In this context, adaptation to markets new demands consumers, readapt strategies, processes, products, approaches market, become paramount. case companies, some changes shop floor work systems essential, provide competitive advantages post-pandemic business s...

The Electronic Medical Record (EMR) creates a positive impact on quality of care by creating a single accessible and credible source for the patient’s historical record. One of the next ‘big things’ in healthcare delivery is using the EMR platform to create automation of routine tasks that occur in a hospital with a goal of streamlining the workflows that support patient care. Imagine a physici...

The subject matter of the study is the automated guided vehicle (AGV) operation synchronisation mechanisms in flexible manufacturing systems. The processes examination has to guarantee the collision-free and deadlock-free AGVs flow. The problem of determination of the rules coordinating access of the vehicles to the shared travel route intervals, ensuring the collision-free and deadlock-free ex...

In automated container terminals, containers are transported between ships and storage yard by differen types of vehicles, for example, guided vehicle (AGV, yard crane (YC) and quay crane (QC). To improve the productivity of the automated container terminals, it is important to harmoniously synchronize operations of different types of container handling equipment. This paper examines the schedu...

The main idea of behaviour-based control structures is to handle partially known complex situations by a set of known behaviours (strategies). By discrete switching to the behaviour seems to be the most appropriate one, or by fusing the behaviours appeared to be the most appropriate ones. These structures has two main tasks to solve. The first is the decision about the level of suitability of t...

In some environments, mobile robots need to perform tasks in a precise manner. For this reason, we require obtaining good controllers in charge of these control tasks. In this work, we present a real-world application in the domain of multi-objective machine learning, which consists of an Automated Guided Vehicle (AGV), specifically, a fork-lift truck must often perform docking maneuvers to loa...

Automatic Guided Vehicles (AGVs) are navigated utilising multiple types of sensors for detecting the environment. In this investigation such sensors are replaced and/or minimized by the use of a single omnidirectional camera picture stream. An area of interest is extracted, and by using image processing the vehicle is navigated on a set path. Reconfigurability is added to the route layout by si...