Multirobot path planning and task assignment are traditionally treated separately, however task assignment can greatly impact the difficulty of the path planning problem, and the ultimate quality of solution is dependent upon both. We introduce task reassignment, an approach to optimally solving the coupled task assignment and path planning problems. We show that task reassignment improves solu...

Task-based language teaching, which requires learners to transact tasks resembling their real life language needs, demands language learners to perform planning at different stages of their learning. Since various types of tasks can be used in task-based instruction, the present study examined the effect of task types and various participatory structures during pre-task planning on the quality ...

this study examined the effects of aural and written prompts under two planning conditions (i.e. pre-task planning and no planning) on complexity, accuracy, and fluency of test takers' writing production. forty learners in an english institute, who had already been classified as intermediate according to the oxford placement test, were assigned to two planning conditions (i.e. no planning and p...

This study examined the effects of aural and written prompts under two planning conditions (i.e. pre-task planning and no planning) on complexity, accuracy, and fluency of test takers' writing production. Forty learners in an English institute, who had already been classified as intermediate according to the Oxford Placement Test, were assigned to two planning conditions (i.e. no planning and p...

AI planning techniques are beginning to find use in a number of practical planning domains. However, the backward-chaining and partial-order-planning control strategies traditionally used in AI planning systems are not necessarily the best ones to use for practical planning problems. In this paper, we discuss some of the difficulties that can result from the use of backward chaining and partial...

Research on pre-task planning has revealed that planned conditions have produced more fluent and complex language than unplanned conditions. To date, most of these studies have investigated the effects of individual planning on language production while collaborative planning has received scant attention. To determine the effects of pre-task planning on second language written production, the p...

In the realm of second language acquisition (SLA), task-based language teaching (TBLT) and input enhancement (IE) have been the focus of a great number of studies. However, the idea of investigating the effects of focus on form instruction through input-enhanced tasks along with pre-task planning time as one of the features of task-based language teaching has been rarely explored in the field o...

The problem of planning for a robot that operates in environments containing large number objects, taking actions to move itself through the world as well change state is known task and motion (TAMP). TAMP problems contain elements discrete planning, discrete–continuous mathematical programming, continuous thus cannot be effectively addressed by any these fields directly. In this article, we de...