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Imran Tasadduq, M. H. Imam, Abdul-Rahim Ahmad
2015 South African Journal of Industrial Engineering  
In the construction phase, the algorithm places a new module at the optimal location on the boundary of a previously constructed cluster of modules.  ...  In the improvement phase, the algorithm alternates between boundary search and steepest descent moves until it converges to a local optimum.  ...  This adaptive heuristic boundary search algorithm also employs a nearoptimality hypothesis and a definition of local optima for reducing the otherwise infinite search space to tractable limits.  ... 
doi:10.7166/26-1-1013 fatcat:ynigs74ox5agtnayhdu5hqucny

Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion [article]

H.J. Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick
2020 arXiv   pre-print
This cost is approximated from batches of offline trajectory optimizations, which allows the complex effects of vehicle under-actuation and dynamic constraints to be approximately captured in a tractable  ...  We formulate this problem as a shortest-path search through a state-space graph, where the edge cost is assigned as optimal transport cost along each segment.  ...  The trajectory obtained using graph search, and the final smoothened trajectory using the knowledge of the switching sequence and the boundary points on the guard surface is displayed in Fig.3 .  ... 
arXiv:1909.10209v3 fatcat:lb6vuteidbbklhebpapcj3dllu

An analytically tractable potential field model of free space and its application in obstacle avoidance

Jen-Hui Chuang, N. Ahuja
1998 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
An analytically tractable potential field model of free space is presented in this paper. The model assumes that the border of every two-dimensional (2-D) region is uniformly charged.  ...  By using the Newtonian potential function, collision avoidance between object and obstacle thus modeled is guaranteed in a path planning problem.  ...  An application of the proposed model to the path planning problem is discussed in Section III.  ... 
doi:10.1109/3477.718522 pmid:18255991 fatcat:ef6fsq3y2feonhr5i7i5xf6xuy

Optimization-based Maneuver Planning for a Tractor-trailer Vehicle in a Curvy Tunnel: A Weak Reliance on Sampling and Search

Bai Li, Li Li, Tankut Acarman, Zhijiang Shao, Ming Yue
2021 IEEE Robotics and Automation Letters  
This study is focused on the maneuver planning problem for a tractor-trailer vehicle in a curvy and tiny tunnel.  ...  The proposed planner comprises three stages: stage 1 identifies the homotopy class via A* search in a 2D grid map; stage 2 recovers the kinematic feasibility with softened intermediate problems iteratively  ...  A sampling-and-search-based planner is commonly the first choice in dealing with a maneuver planning problem in the community of autonomous driving.  ... 
doi:10.1109/lra.2021.3131693 fatcat:cp6s5hsdf5affmizvflmjamite

Tractable Algorithm for Robust Time-Optimal Trajectory Planning of Robotic Manipulators under Confined Torque

Qiang Zhang, Shu-Rong Li, Jian-Xin Guo, Xiao-Shan Gao
2014 International Journal of Computers Communications & Control  
In this paper, the problem of time optimal trajectory planning under confined torque and uncertain dynamics and torque parameters along a predefined geometric path is considered.  ...  In Section 2, the nominal TMTP problem is reduced to a linear control problem. In Section 3, methods of parametrization is given.  ...  Introduction In order to maximize productivity, the problem of minimum time motion planning of robotic manipulators is widely studied.  ... 
doi:10.15837/ijccc.2015.1.1571 fatcat:nsjevxmid5bkboy5icbdspxt6y

Occlusion-Aware Path Planning to Promote Infrared Positioning Accuracy for Autonomous Driving in a Warehouse

Bai Li, Shiqi Tang, Youmin Zhang, Xiang Zhong
2021 Electronics  
In layer one, a homotopic A* path is searched for in the 2D grid map to roughly connect the initial and goal points.  ...  In layer two, a curvature-continuous reference line is planned close to the A* path using numerical optimal control.  ...  Schematics for a graph of sampled grids in DP search. Algorithm 1 . 1 Path planning via DP search.  ... 
doi:10.3390/electronics10243093 fatcat:4cooqagsjremxcirg7rbxfj6ta

Structural Patterns Beyond Forks: Extending the Complexity Boundaries of Classical Planning

Michael Katz, Emil Keyder
Tractability analysis in terms of the causal graphs of planning problems has emerged as an important area of research in recent years, leading to new methods for the derivation of domain-independent heuristics  ...  We show that relaxing any one of the restrictions required for this tractability leads to NP-complete problems.  ...  The idea behind these heuristics is to project planning problems onto fragments of causal graphs known to be tractable for optimal planning, and to use the costs of solutions to these as guidance for the  ... 
doi:10.1609/aaai.v26i1.8357 fatcat:pfqgzhnugfda3en3sj2t2luwxy

Planning under topological constraints using beam-graphs

Venkatraman Narayanan, Paul Vernaza, Maxim Likhachev, Steven M. LaValle
2013 2013 IEEE International Conference on Robotics and Automation  
We present a framework based on graph search for navigation in the plane with a variety of topological constraints.  ...  As an additional application, we demonstrate the use of our planner on the PR2 robot for automated building of 3D object models.  ...  The other authors were partially supported by MURI/ONR grant N00014-09-1-1052.  ... 
doi:10.1109/icra.2013.6630611 dblp:conf/icra/NarayananVLL13 fatcat:lyacldygvrhr7dtjwtncbpfdry

Perception-driven sparse graphs for optimal motion planning [article]

Thomas Sayre-McCord, Sertac Karaman
2018 arXiv   pre-print
In a nutshell, the proposed algorithm iteratively switches between the planning sub-problem and the mapping sub-problem, each updating based on the other until a valid trajectory is found.  ...  The resulting trajectory retains a provable property of providing an optimal trajectory with respect to the full (unmapped) environment, while utilizing only a fraction of the sensing data in computational  ...  joined at the boundaries of obstacles and (2) adding obstacles to the problem will never decrease the optimal cost of the motion planning problem.  ... 
arXiv:1808.00593v1 fatcat:6rw5wv5oiffc3ncdee3rs5kube

Can Transfer Neuroevolution Tractably Solve Your Differential Equations? [article]

Jian Cheng Wong, Abhishek Gupta, Yew-Soon Ong
2021 arXiv   pre-print
In the context of solving differential equations, we are faced with the problem of finding globally optimum parameters of the network, instead of being concerned with out-of-sample generalization.  ...  SGD, which searches along a single gradient direction, is prone to become trapped in local optima, so it may not be the best approach here.  ...  It is worth noting that NES searches in the space of distributional parameters, but not the problem space.  ... 
arXiv:2101.01998v1 fatcat:yz7bannwo5f7hfkpefg4yczhzu

Real time path planning via alternating minimisation through image information

Zheng Chen, Minjie Zhang, Jiang Zhu, Shiqiang Zhu
2021 IET Cyber-Systems and Robotics  
At the second stage, several novel approximations are adopted to make the path planning problem tractable.  ...  Real time path planning from image information is of vital importance in the fields of robots as it has various applications in real time navigation, autonomous driving, robot arm manipulation and human  ...  ACKNOWLEDGEMENTS This work was supported in part by the National Science Foundation of China under Grant 92048302.  ... 
doi:10.1049/csy2.12030 fatcat:4wrfd664xjh6nlcwtfyetjng7u

Visualizing the Internal Structure of SAT Instances (Preliminary Report)

Carsten Sinz
2004 International Conference on Theory and Applications of Satisfiability Testing  
Modern algorithms for the SAT problem reveal an almost tractable behavior on "real-world" instances.  ...  We therefore propose a visualization of the instance's variable interaction graph (and of its dynamic change during a run of a SAT-solver) as a first step of an empirical research program to analyze the  ...  Concepts explaining the boundary between tractability and intractability include backbone variables [8] and backdoor sets [9] .  ... 
dblp:conf/sat/Sinz04 fatcat:infgklq6xbbzznn3ft5hugntaq

Permissive planning: extending classical planning to uncertain task domains

Gerald F. DeJong, Scott W. Bennett
1997 Artificial Intelligence  
This paper contributes a novel approach to planning in uncertain domains. The approach is an extension of classical planning.  ...  Uncertainty, inherent in most real-world domains, can cause failure of apparently sound classical plans.  ...  This research was supported in part by the Office of Naval Research under grant NOOO14-94-l-0684.  ... 
doi:10.1016/s0004-3702(96)00031-8 fatcat:lbukmtq3gnfs5l2pwma2orwyiy

Combining random and data-driven coverage planning for underwater mine detection

J.R. Stack, C.M. Smith
2003 Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492)  
In search areas of this scale, complete area coverage may not always be feasible. Therefore, this research investigates a path planning scheme for incomplete coverage.  ...  The rows of the line-sweep pattern are randomly spaced near the boundaries of each cell to decrease the probability of missing a line of evenly spaced mines.  ...  , and search boundary).  ... 
doi:10.1109/oceans.2003.178298 fatcat:elyjdqyjtfedxag6zvx2puyqhe

Potential-based path planning for robot manipulators

Chien-Chou Lin, Lo-Wei Kuo, Jen-Hui Chuang
2005 Journal of Robotic Systems  
In this paper, a potential-based path-planning algorithm for a high DOF robot manipulator is proposed.  ...  A collision-free path of a manipulator will then be obtained by locally adjusting the manipulator configuration to search for minimum potential configurations using that force and torque.  ...  Thus, path planning is reduced to the problem of planning a path from a start point to goal in free space.  ... 
doi:10.1002/rob.20067 fatcat:tpsla7hpuzhlpew5q3wgrdahna
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