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- Cirillo, Marcello, 1978-, et al.
(författare)
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Integrated Motion Planning and Coordination for Industrial Vehicles
- 2014
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Ingår i: Proceedings of the 24th International Conference on Automated Planning and Scheduling. - : AAAI Press. - 9781577356608
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Konferensbidrag (refereegranskat)abstract
- A growing interest in the industrial sector for autonomous ground vehicles has prompted significant investment in fleet management systems. Such systems need to accommodate on-line externally imposed temporal and spatial requirements, and to adhere to them even in the presence of contingencies. Moreover, a fleet management system should ensure correctness, i.e., refuse to commit to requirements that cannot be satisfied. We present an approach to obtain sets of alternative execution patterns (called trajectory envelopes) which provide these guarantees. The approach relies on a constraint-based representation shared among multiple solvers, each of which progressively refines trajectory envelopes following a least commitment principle.
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| 2. |
- Nilsson, Mikael, 1977-, et al.
(författare)
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Efficient IDC : A Faster Incremental Dynamic Controllability Algorithm
- 2014
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Ingår i: Proceedings of the 24th International Conference on Automated Planning and Scheduling (ICAPS). - : AAAI Press. - 9781577356608 ; , s. 199-207
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Konferensbidrag (refereegranskat)abstract
- Simple Temporal Networks with Uncertainty (STNUs) allow the representation of temporal problems where some durations are uncontrollable (determined by nature), as is often the case for actions in planning. It is essential to verify that such networks are dynamically controllable (DC) – executable regardless of the outcomes of uncontrollable durations – and to convert them to an executable form. We use insights from incremental DC verification algorithms to re-analyze the original verification algorithm. This algorithm, thought to be pseudo-polynomial and subsumed by an O(n5) algorithm and later an O(n4) algorithm, is in fact O(n4) given a small modification. This makes the algorithm attractive once again, given its basis in a less complex and more intuitive theory. Finally, we discuss a change reducing the amount of work performed by the algorithm.
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