Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments

The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized planner - MAPP is described and applied to the task of finding trajectories for dozens UAVs performing nap-of-the-earth flight in urban environments. Results of the experimental studies provide an opportunity to claim that MAPP is a highly efficient planner for solving considered types of tasks

A comparative study of navigation meshes

International audienceA navigation mesh is a representation of a 2D or 3D virtual environment that enables path planning and crowd simulation for walking characters. Various state-of-the-art navigation meshes exist, but there is no standardized way of evaluating or comparing them. Each implementation is in a different state of maturity, has been tested on different hardware, uses different example environments, and may have been designed with a different application in mind. In this paper, we conduct the first comparative study of navigation meshes. First, we give general definitions of 2D and 3D environments and navigation meshes. Second, we propose theoretical properties by which navigation meshes can be classified. Third, we introduce metrics by which the quality of a navigation mesh implementation can be measured objectively. Finally, we use these metrics to compare various state-of-the-art navigation meshes in a range of 2D and 3D environments. We expect that this work will set a new standard for the evaluation of navigation meshes, that it will help developers choose an appropriate navigation mesh for their application, and that it will steer future research on navigation meshes in interesting directions

Blood Pressure Management in the Very Preterm Infant:More than Just Millimetres

Despite significant advances in many areas of care, the management of low blood pressure and circulatory compromise in the preterm infant continues to be based on quite limited evidence. Deciding when to intervene, and with what to intervene, remains a conundrum at the bedside. In this chapter we explore the aetiology of low blood pressure, we review assessment strategies including new monitoring modalities that may provide a better understanding of the underlying problem and hence direct more appropriate treatments. The evidence for current therapies is reviewed, including the newer inodilators. The future will see a paradigm shift in our current approach to haemodynamic instability and management.</p

Time Evolution of Optical Emission Spectrum of a Hg-HID Lamp Exposed to X-ray

International audienc