In this paper we present a solution to the problem of positioning a team of Micro Aerial Vehicles for a surveillance task in an environment of arbitrary and unknown morphology. The problem is addressed taking into acc...
详细信息
ISBN:
(纸本)9781479909964
In this paper we present a solution to the problem of positioning a team of Micro Aerial Vehicles for a surveillance task in an environment of arbitrary and unknown morphology. The problem is addressed taking into account physical and environmental constraints like limited sensor capabilities and obstacle avoidance. The goal is to maximize the area monitored by the team, by identifying the best configuration of the team members. The proposed method is a distributed extension of our previous work based on the Cognitive Adaptive Optimization (CAO) algorithm. This distributed and scalable approach allows us to obtain coordinated and safe trajectories to accomplish the task in 3D environments. The different formulation of the problem considered in this paper allows also dealing with communication constraints. We provide extensive experimental results using data collected by a team of aerial robots and compare the efficiency of the distributed and centralized approach.
Automated Guided Vehicles (AGVs) fleet scheduling is one of the big problems in Flexible Manufacturing System (FMS) control. The problem is more complicated when concurrent multi-product manufacturing and resource dea...
详细信息
Automated Guided Vehicles (AGVs) fleet scheduling is one of the big problems in Flexible Manufacturing System (FMS) control. The problem is more complicated when concurrent multi-product manufacturing and resource deadlock avoidance policies are considered. The objective of the research is to provide a declarative model enabling to state a constraint satisfaction problem aimed at AGVs fleet scheduling subject to assumed itineraries of concurrently manufactured product types. In other words, assuming a given layout of FMS's material handling and production routes of simultaneously manufactured orders, the main objective is to provide the declarative framework aimed at conditions allowing one to calculate the AGVs fleet schedule in online mode. An illustrative example of the relevant algebra-like driven step-by-stem cyclic scheduling is provided.
This paper concerns multimodal transport systems (MTS) represented by a supernetworks in which several unimodal networks are connected by transfer links and focuses on the scheduling problems encountered in these syst...
详细信息
This paper concerns multimodal transport systems (MTS) represented by a supernetworks in which several unimodal networks are connected by transfer links and focuses on the scheduling problems encountered in these systems. Assuming unimodal networks are modeled as cyclic lines, i.e. the routes determining stream-like moving transportation means, a problem of an alternative itinerary selection for an origin-destination (O-D) trip in the context of emergency relief is considered. Emergency relief dealing with the contingency events and deciding on MTS robustness can be evaluated in terms of feasible itineraries for assumed (O-D) trip. Since itinerary planning problem, constitutes a common routing and scheduling decision faced by travelers, hence the main question regards of itinerary re-planning and particularly a method aimed at prototyping of mode sequences and paths selections. The declarative model of multimodal processes driven itinerary planning problem is our main contribution. Illustrative examples providing alternative itineraries in some cases of MTS malfunction are presented.
We introduce a Horn description logic called Horn-DL, which is strictly and essentially richer than Horn-scriptSscriptRscriptOscriptIscriptQ, while still has PTime data complexity. In comparison with Horn- scriptSscri...
详细信息
The degree-degree correlation has considerable effect in the real world networks. In the classic rumor spreading model also known as susceptible-infected-refractory (SIR) model, all the edges have uniform tie strength...
详细信息
The degree-degree correlation has considerable effect in the real world networks. In the classic rumor spreading model also known as susceptible-infected-refractory (SIR) model, all the edges have uniform tie strength between the nodes. Therefore, for the real world complex networks, SIR model need to be modified to consider the dependence of rumor spread rate on the weight based on the tie strength between the nodes. Main objective of this work is to study the effect of degree-degree correlation on the rumor spreading and on the effectiveness of inoculation strategies in the real world networks. The weight of edges, node strength and degree degree correlation affect the threshold for rumor spreading. The weight of an edge between two nodes is proportional to (k i k j ) β , where k i and k j are degrees of node i and j. By using the exponent β in any degree-degree correlated scale free network, rumor threshold turns out to be some finite value. It was not observed in the previous models. Inoculation of a certain fraction of nodes against.rumors is required to control the rumor spread. The inoculation of nodes is done randomly or in targeted fashion. It has been observed that rumor threshold in random inoculation scheme is greater than the rumor threshold in the model without any inoculation scheme. In targeted inoculation scheme, rumor threshold for correlated networks is found to be larger than the threshold in uncorrelated networks. But random inoculation is not much effective. It is found that degree-degree correlation in real world networks does not play any role in increasing the effectiveness of random inoculation. However, it is not true for targeted inoculation. The proposed hypothesis has also been verified by simulation results.
Automated Guided Vehicles (AGVs) fleet scheduling is one of the big problems in Flexible Manufacturing System (FMS) control. The problem is more complicated when concurrent multi-product manufacturing and resource dea...
详细信息
Network resources are essential in resource critical environments as ad hoc wireless networks (AWNs) due to their dynamic topology and broadcasting of packets over the wireless medium without a central controller. In ...
详细信息
Network resources are essential in resource critical environments as ad hoc wireless networks (AWNs) due to their dynamic topology and broadcasting of packets over the wireless medium without a central controller. In order to perform a routing algorithm with minimum resource consumption, an ideal ad hoc routing protocol should be designed for low consumed resources such as low power consumption. In this paper focus on ad hoc routing protocols, Optimized Link State Routing Protocol (OLSR) and gossip-based routing protocols, based on selective forwarding node algorithms that reduce the control message overheads. Thus, we present performance analytical results to thoroughly evaluate the routing protocols and demonstrate our Adaptive-Gossiping method advantages over OLSR and Static-Gossiping routing protocols in densely deployed networks.
Five-axis machining has been widely used in industry recently;however, it has potential axial table colliding problems. The objective for this paper is proposing an efficient algorithm for five-axis machining collisio...
详细信息
暂无评论