Game theoretic controller synthesis for multi-robot motion planning Part I : Trajectory based algorithms

We consider a class of multi-robot motion planning problems where each robot is associated with multiple objectives and decoupled task specifications. The problems are formulated as an open-loop non-cooperative differential game. A distributed anytime algorithm is proposed to compute a Nash equilibrium of the game. The following properties are proven: (i) the algorithm asymptotically converges to the set of Nash equilibrium; (ii) for scalar cost functionals, the price of stability equals one; (iii) for the worst case, the computational complexity and communication cost are linear in the robot number

Learning from the Anthropocene: Adaptive Epistemology and Complexity in Strategic Managerial Thinking

open access articleTurbulence experienced in the business and social realms resonates with turbulence unfolding throughout the biosphere, as a process of accelerating change at the stratigraphic scale termed the Anthropocene. The Anthropocene is understood as a multi‐dimensional limit point, one dimension of which concerns the limits to the lineal epistemology prevalent since the Age of the Enlightenment. This paper argues that future conditions necessitate the updating of a lineal epistemology through a transition towards resilience thinking that is both adaptive and ecosystemic. A management paradigm informed by the recognition of multiple equilibria states distinguished by thresholds, and incorporating adaptive and resilience thinking is considered. This paradigm is thought to enhance flexibility and the capacity to absorb influences without crossing thresholds into alternate stable, but less desirable, states. One consequence is that evaluations of success may change, and these changes are considered and explored as likely on‐going challenges businesses must grapple with into the future

SUPPORTING DECISION MAKING ON REHABILITATION AND MANAGEMENT TRANSFER OF GOVERNMENT SMALLHOLDING IRRIGATION SCHEMES: THE SMILE APPROACH

Resource /Energy Economics and Policy,

A reusable iterative optimization software library to solve combinatorial problems with approximate reasoning

Real world combinatorial optimization problems such as scheduling are typically too complex to solve with exact methods. Additionally, the problems often have to observe vaguely specified constraints of different importance, the available data may be uncertain, and compromises between antagonistic criteria may be necessary. We present a combination of approximate reasoning based constraints and iterative optimization based heuristics that help to model and solve such problems in a framework of C++ software libraries called StarFLIP++. While initially developed to schedule continuous caster units in steel plants, we present in this paper results from reusing the library components in a shift scheduling system for the workforce of an industrial production plant.Comment: 33 pages, 9 figures; for a project overview see http://www.dbai.tuwien.ac.at/proj/StarFLIP

Assessing dynamic models for high priority waste collection in smart cities

Waste Management (WM) represents an important part of Smart Cities (SCs) with significant impact on modern societies. WM involves a set of processes ranging from waste collection to the recycling of the collected materials. The proliferation of sensors and actuators enable the new era of Internet of Things (IoT) that can be adopted in SCs and help in WM. Novel approaches that involve dynamic routing models combined with the IoT capabilities could provide solutions that outperform existing models. In this paper, we focus on a SC where a number of collection bins are located in different areas with sensors attached to them. We study a dynamic waste collection architecture, which is based on data retrieved by sensors. We pay special attention to the possibility of immediate WM service in high priority areas, e.g., schools or hospitals where, possibly, the presence of dangerous waste or the negative effects on human quality of living impose the need for immediate collection. This is very crucial when we focus on sensitive groups of citizens like pupils, elderly or people living close to areas where dangerous waste is rejected. We propose novel algorithms aiming at providing efficient and scalable solutions to the dynamic waste collection problem through the management of the trade-off between the immediate collection and its cost. We describe how the proposed system effectively responds to the demand as realized by sensor observations and alerts originated in high priority areas. Our aim is to minimize the time required for serving high priority areas while keeping the average expected performance at high level. Comprehensive simulations on top of the data retrieved by a SC validate the proposed algorithms on both quantitative and qualitative criteria which are adopted to analyze their strengths and weaknesses. We claim that, local authorities could choose the model that best matches their needs and resources of each city

The State of Defined Benefit Pension Plans in Canada: An Update

Motivated by a continuous debate on pension plan shortfalls and a concern for the long-term viability of defined benefit pension plans, CGA-Canada saw a fit to update its estimate of the standing of defined benefit pension plans presented in its 2004 report titled "Addressing the Pensions Dilemma in Canada". Consistent with our initial findings, the issue of under-funded pension plans has become one of the most perplexing financial issues facing business executives, legislators and Canadian pensioners. Some 59% of Canadian defined benefit pension plans continue to be in deficit at December 31, 2004. If we provide for indexation of benefits, that number rises to 96%. It is estimated that the additional funding required to fully fund those deficit plans has grown from $160 billion at the end of 2003 to$190 billion at the end of 2004 (assuming indexation of accrued benefits). While pension underfunding is a challenge, it is more importantly a symptom of deeper problems rooted within the larger pension administration regime. Pension regulators must take a more proactive approach and monitor more closely pension plans that are in a deficit position.defined benefit pension plan, funding position of pension plans, household savings, retirement savings, retirement income, household finance, pension accounting

Prevention and treatment of pressure ulcers

The prevention and treatment of pressure ulcers continues topresent a challenge across acute and long-term care settings, and costs the NHS up to £2.64 billion annually. As well as causing a reduced quality of life for sufferers, they can prove to be fatal. The complexity of the exact causes of skin breakdown and accurate risk assessment has proved problematic to fully understanding this common nursing problem, yet despite limited evidence clear guidelines on best practice exist, suggesting that prevention strategies should encompass interventions in three areas: risk assessment; relief of pressure, and education. Evidence exists that where these strategies are adopted at an organizational level, and strong leadership provided, the outcomes can be remarkable. This article outlines effective prevention and risk-reduction strategies, together with interventions that can promote healing.<br/