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An Optimal Motion Planning Framework for Quadruped Jumping [article]

Zhitao Song, Linzhu Yue, Guangli Sun, Yihu Ling, Hongshuo Wei, Linhai Gui, Yun-Hui Liu
2022 arXiv   pre-print
Since heuristics-based algorithms often require significant time, motions are planned offline and stored as a pre-motion library.  ...  Moreover, a prioritization fitness function is created for heuristics-based algorithms in robot ground reaction force (GRF) planning, enhancing convergence and searching performance considerably.  ...  robot center of mass (CoM) and the Euler angels of the SRB.  ... 
arXiv:2207.12002v1 fatcat:hu4ndbsrgjhp5fegvyrxthlimi

An Admissible HTN Planning Heuristic

Pascal Bercher, Gregor Behnke, Daniel Höller, Susanne Biundo
2017 Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence  
Here, we propose an admissible heuristic for standard HTN planning, which allows to find optimal solutions heuristically.  ...  Hierarchical task network (HTN) planning is well-known for being an efficient planning approach. This is mainly due to the success of the HTN planning system SHOP2.  ...  Acknowledgements We thank the reviewers for their comments and suggestions. We also want to thank Mario Schmautz for his support with the evaluation.  ... 
doi:10.24963/ijcai.2017/68 dblp:conf/ijcai/BercherBHB17 fatcat:hnzgdtwwbnbellzhzmfaj5hzai

Planning Problems in Public Transit [chapter]

Ralf Borndörfer, Martin Grötschel, Ulrich Jäger
2010 Production Factor Mathematics  
The decision, planning, and optimization problems arising in this context are often gigantic and "scream" for mathematical support because of their complexity.  ...  This article sketches the state and the relevance of mathematics in planning and operating public transit, describes today's challenges, and suggests a number of innovative actions.  ...  The procedure would be based upon traditional planning structures.  ... 
doi:10.1007/978-3-642-11248-5_6 fatcat:atxwvtvwkvffhj432sshmrm6wq

Optimization in the now: Dynamic peephole optimization for hierarchical planning

Dylan Hadfield-Menell, Leslie Pack Kaelbling, Tomas Lozano-Perez
2013 2013 IEEE International Conference on Robotics and Automation  
Unfortunately, this approach makes no effort to account for the execution cost of an abstract plan and often arrives at poor quality plans.  ...  This paper outlines a method for dynamically improving a hierarchical plan during execution.  ...  They use angelic nondeterminism in addition to upper and lower bounds on costs to find optimal plans.  ... 
doi:10.1109/icra.2013.6631225 dblp:conf/icra/Hadfield-MenellKL13 fatcat:6r4ohor3hjf5hitfcgt7kkx7ee

Planning Future Heterogeneous Wireless Networks

Jijun Luo, Xuemin Huang
2005 PIERS Online  
In the network planning topic, we address a number of solutions w.r.t. some typical dominating factors.  ...  Among them, spectrum management is one special topic covering fields of technique, regulation and politics.  ...  In addition, the pilot channel power, vertical and azimuth antenna angels are parameters to be optimized with the same step of site selection of the UMTS base station.  ... 
doi:10.2529/piers041206104232 fatcat:2p3uukn4k5gnhiwdbwmzhuhxgi

Conditional Constraint Networks for Interleaved Planning and Information Gathering

J.L. Ambite, C.A. Knoblock, M. Muslea, S. Minton
2005 IEEE Intelligent Systems  
F or any activity, a wealth of information is available through public and private networks.  ...  Unfortunately, such information is distributed among many sites, with different data formats, schemas, and semantics.  ...  The views and conclusions contained herein are those of the authors and do not necessarily represent the official policies or endorsements, either expressed or implied, of any of the above organizations  ... 
doi:10.1109/mis.2005.24 fatcat:jllm667yc5hqncvvyojty4xphq

Sensor-Based Reactive Symbolic Planning in Partially Known Environments

Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy, Daniel E. Koditschek
2018 2018 IEEE International Conference on Robotics and Automation (ICRA)  
little onboard computation and is used online.  ...  little onboard computation and is used online.  ...  Agreement #W911NF-1020016 and in part by AFRL grant FA865015D1845 (subcontract 6697371).  ... 
doi:10.1109/icra.2018.8460861 dblp:conf/icra/VasilopoulosVAR18 fatcat:hbrudwg42ngxtn6eeswexcrfgy

Technical Report: Sensor-Based Reactive Symbolic Planning in Partially Known Environments [article]

Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy, Daniel E. Koditschek
2018 arXiv   pre-print
little onboard computation and is used online.  ...  The validity of the proposed method is verified both with formal proofs and numerical simulations.  ...  This approach guarantees hierarchical optimality: it will generate the best plan which can be represented in a given task hierarchy.  ... 
arXiv:1709.05474v3 fatcat:f54gxrb24vdyxntnjptsu2jkqa

An Autonomous Path Planning Model for Unmanned Ships Based on Deep Reinforcement Learning

Guo, Zhang, Zheng, Du
2020 Sensors  
The model utilizes the deep deterministic policy gradient (DDPG) algorithm, through the continuous interaction with the environment and the use of historical experience data; the agent learns the optimal  ...  Deep reinforcement learning (DRL) has excellent performance in continuous control problems and it is widely used in path planning and other fields.  ...  In addition, many intelligent algorithms, such as genetic algorithms, ant colony optimization algorithms, and neural network algorithms, have also been used in the autonomous path planning problem of unmanned  ... 
doi:10.3390/s20020426 pmid:31940855 pmcid:PMC7013856 fatcat:gwnz2iegjvbobgyupvwvjvkhmm

Integrated perception and planning in the continuous space: A POMDP approach

Haoyu Bai, David Hsu, Wee Sun Lee
2014 The international journal of robotics research  
We provide experimental results demonstrating its potential in robot planning and learning under uncertainty and a theoretical analysis of its performance.  ...  The partially observable Markov decision process (POMDP) provides a principled mathematical model for integrating perception and planning, a major challenge in robotics.  ...  ALGORITHM A. Overview Our algorithm computes a GPG as an approximation to an optimal policy.  ... 
doi:10.1177/0278364914528255 fatcat:cxzxbrsy3vcdniputrjp6ndhue

E-Commerce and Operations Research in Airline Planning, Marketing, and Distribution

Barry C. Smith, Dirk P. Günther, B. Venkateshwara Rao, Richard M. Ratlife
2001 Interfaces  
By the mid-1980s airlines used customer shopping data to calibrate traveler demand and choice models, analyzed multi-channel product distribution strategies with simulation and practiced dynamic pricing  ...  Airlines continue to derive billions of dollars annually from these and derivative models.  ...  Acknowledgements We are grateful to Arthur Geoffrion, Ramayya Krishnan, and four anonymous referees for their thoughtful and extensive comments that led to major improvements of the  ... 
doi:10.1287/inte.31.2.37.10627 fatcat:axt4xiux75dkxldrus7rocwxii

Integrated Perception and Planning in the Continuous Space: A POMDP Approach

Haoyu Bai, David Hsu, Wee Sun Lee
2013 Robotics: Science and Systems IX  
We provide experimental results demonstrating its potential in robot planning and learning under uncertainty and a theoretical analysis of its performance.  ...  The partially observable Markov decision process (POMDP) provides a principled mathematical model for integrating perception and planning, a major challenge in robotics.  ...  ALGORITHM A. Overview Our algorithm computes a GPG as an approximation to an optimal policy.  ... 
doi:10.15607/rss.2013.ix.018 dblp:conf/rss/BaiHL13 fatcat:ivxgyrigmrblbdoxn37kmt3ivq

System Planning of Grid-Connected Electric Vehicle Charging Stations and Key Technologies: A Review

Chao-Tsung Ma
2019 Energies  
The optimal planning of electric vehicle (EV) charging stations (ECSs) with advanced control algorithms is very important to accelerate the development of EVs, which is a promising solution to reduce carbon  ...  In this paper, existing system configurations, related design methods, algorithms and key technologies for ECSs are systematically reviewed.  ...  advanced power and energy systems.  ... 
doi:10.3390/en12214201 fatcat:d3o55qig2nhdpfmnd22rdwuvhq

Optimization Based Motion Planning for Multi-Limbed Vertical Climbing Robots [article]

Xuan Lin, Jingwen Zhang, Junjie Shen, Gabriel Fernandez, Dennis W Hong
2019 arXiv   pre-print
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture.  ...  Instead of motion planning with a single nonlinear programming (NLP) solver, we decoupled the problem into two parts with distinct physical meaning: torso postures and contact forces.  ...  Given the solving speed of our algorithm, it may be implemented online to constantly re-plan.  ... 
arXiv:1909.06339v1 fatcat:zbkxvswghrf6hehumk3bp6gvqa

Agent planning programs

Giuseppe De Giacomo, Alfonso Emilio Gerevini, Fabio Patrizi, Alessandro Saetti, Sebastian Sardina
2016 Artificial Intelligence  
goal preferences and plan adaptation methods.  ...  Then, we consider the case of deterministic domains and propose a different technique to solve agent planning programs, which is based on iteratively solving classical planning problems and on exploiting  ...  Acknowledgements The authors would like to thank the anonymous reviewers for their suggestions and comments that helped improve the paper in significant ways.  ... 
doi:10.1016/j.artint.2015.10.001 fatcat:x3rczbkh4jajhfau5pqhbojyte
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