9,791 research outputs found
Development and demonstration of an on-board mission planner for helicopters
Mission management tasks can be distributed within a planning hierarchy, where each level of the hierarchy addresses a scope of action, and associated time scale or planning horizon, and requirements for plan generation response time. The current work is focused on the far-field planning subproblem, with a scope and planning horizon encompassing the entire mission and with a response time required to be about two minutes. The far-feld planning problem is posed as a constrained optimization problem and algorithms and structural organizations are proposed for the solution. Algorithms are implemented in a developmental environment, and performance is assessed with respect to optimality and feasibility for the intended application and in comparison with alternative algorithms. This is done for the three major components of far-field planning: goal planning, waypoint path planning, and timeline management. It appears feasible to meet performance requirements on a 10 Mips flyable processor (dedicated to far-field planning) using a heuristically-guided simulated annealing technique for the goal planner, a modified A* search for the waypoint path planner, and a speed scheduling technique developed for this project
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Resource constrained routing and scheduling: Review and research prospects
In the service industry, it is crucial to efficiently allocate scarce resources to perform tasks and meet particular service requirements. What considerably complicates matters is when these resources, for example skilled technicians, nurses, and home carers have to visit different customer locations. This paper provides a comprehensive survey on resource constrained routing and scheduling that unveils the problem characteristics with respect to resource qualifications, service requirements and problem objectives. It also identifies the most effective exact and heuristic algorithms for this class of problems. The paper closes with several research prospects
Attention and Anticipation in Fast Visual-Inertial Navigation
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to
estimate its state using an on-board camera and an inertial sensor, without any
prior knowledge of the external environment. We consider the case in which the
robot can allocate limited resources to VIN, due to tight computational
constraints. Therefore, we answer the following question: under limited
resources, what are the most relevant visual cues to maximize the performance
of visual-inertial navigation? Our approach has four key ingredients. First, it
is task-driven, in that the selection of the visual cues is guided by a metric
quantifying the VIN performance. Second, it exploits the notion of
anticipation, since it uses a simplified model for forward-simulation of robot
dynamics, predicting the utility of a set of visual cues over a future time
horizon. Third, it is efficient and easy to implement, since it leads to a
greedy algorithm for the selection of the most relevant visual cues. Fourth, it
provides formal performance guarantees: we leverage submodularity to prove that
the greedy selection cannot be far from the optimal (combinatorial) selection.
Simulations and real experiments on agile drones show that our approach ensures
state-of-the-art VIN performance while maintaining a lean processing time. In
the easy scenarios, our approach outperforms appearance-based feature selection
in terms of localization errors. In the most challenging scenarios, it enables
accurate visual-inertial navigation while appearance-based feature selection
fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table
A Taxonomy of Data Grids for Distributed Data Sharing, Management and Processing
Data Grids have been adopted as the platform for scientific communities that
need to share, access, transport, process and manage large data collections
distributed worldwide. They combine high-end computing technologies with
high-performance networking and wide-area storage management techniques. In
this paper, we discuss the key concepts behind Data Grids and compare them with
other data sharing and distribution paradigms such as content delivery
networks, peer-to-peer networks and distributed databases. We then provide
comprehensive taxonomies that cover various aspects of architecture, data
transportation, data replication and resource allocation and scheduling.
Finally, we map the proposed taxonomy to various Data Grid systems not only to
validate the taxonomy but also to identify areas for future exploration.
Through this taxonomy, we aim to categorise existing systems to better
understand their goals and their methodology. This would help evaluate their
applicability for solving similar problems. This taxonomy also provides a "gap
analysis" of this area through which researchers can potentially identify new
issues for investigation. Finally, we hope that the proposed taxonomy and
mapping also helps to provide an easy way for new practitioners to understand
this complex area of research.Comment: 46 pages, 16 figures, Technical Repor
Optimization of Shipyard Space Allocation and Scheduling using Heuristic Algorithm
In this paper we describe the development of a tool that allows planners to efficiently
and effectively plan space within valuable areas of a shipyard. Traditionally, space is
considered as resource; however, it is difficult to accurately account for and plan its
consumption with the current planning software tools available. The spatial scheduling
tool described in this paper can be used by planners to manually or automatically
reserve space within the shipyard for construction of large blocks over the entire ship
erection period. The software is coupled with a heuristic optimization solver which is
inspired by an algorithm used for "3D bin-packing problems". The result is the ability to
efficiently generate and compare multiple space allocation alternatives in a reduced
time with the ultimate goal of maintaining the critical ship erection schedule. Better
solution than manual or semi-automatic allocation of blocks can be obtained through
the optimization module
A Taxonomy of Workflow Management Systems for Grid Computing
With the advent of Grid and application technologies, scientists and
engineers are building more and more complex applications to manage and process
large data sets, and execute scientific experiments on distributed resources.
Such application scenarios require means for composing and executing complex
workflows. Therefore, many efforts have been made towards the development of
workflow management systems for Grid computing. In this paper, we propose a
taxonomy that characterizes and classifies various approaches for building and
executing workflows on Grids. We also survey several representative Grid
workflow systems developed by various projects world-wide to demonstrate the
comprehensiveness of the taxonomy. The taxonomy not only highlights the design
and engineering similarities and differences of state-of-the-art in Grid
workflow systems, but also identifies the areas that need further research.Comment: 29 pages, 15 figure
An efficient genetic algorithm for large-scale planning of robust industrial wireless networks
An industrial indoor environment is harsh for wireless communications
compared to an office environment, because the prevalent metal easily causes
shadowing effects and affects the availability of an industrial wireless local
area network (IWLAN). On the one hand, it is costly, time-consuming, and
ineffective to perform trial-and-error manual deployment of wireless nodes. On
the other hand, the existing wireless planning tools only focus on office
environments such that it is hard to plan IWLANs due to the larger problem size
and the deployed IWLANs are vulnerable to prevalent shadowing effects in harsh
industrial indoor environments. To fill this gap, this paper proposes an
overdimensioning model and a genetic algorithm based over-dimensioning (GAOD)
algorithm for deploying large-scale robust IWLANs. As a progress beyond the
state-of-the-art wireless planning, two full coverage layers are created. The
second coverage layer serves as redundancy in case of shadowing. Meanwhile, the
deployment cost is reduced by minimizing the number of access points (APs); the
hard constraint of minimal inter-AP spatial paration avoids multiple APs
covering the same area to be simultaneously shadowed by the same obstacle. The
computation time and occupied memory are dedicatedly considered in the design
of GAOD for large-scale optimization. A greedy heuristic based
over-dimensioning (GHOD) algorithm and a random OD algorithm are taken as
benchmarks. In two vehicle manufacturers with a small and large indoor
environment, GAOD outperformed GHOD with up to 20% less APs, while GHOD
outputted up to 25% less APs than a random OD algorithm. Furthermore, the
effectiveness of this model and GAOD was experimentally validated with a real
deployment system
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