98 research outputs found
AMPLE: an anytime planning and execution framework for dynamic and uncertain problems in robotics
Acting in robotics is driven by reactive and deliberative reasonings which take place in the competition between execution and planning processes. Properly balancing reactivity and deliberation is still an open question for harmonious execution of deliberative plans in complex robotic applications. We propose a flexible algorithmic framework to allow continuous real-time planning of complex tasks in parallel of their executions. Our framework, named AMPLE, is oriented towards robotic modular architectures in the sense that it turns planning algorithms into services that must be generic, reactive, and valuable. Services are optimized actions that are delivered at precise time points following requests from other modules that include states and dates at which actions are needed. To this end, our framework is divided in two concurrent processes: a planning thread which receives planning requests and delegates action selection to embedded planning softwares in compliance with the queue of internal requests, and an execution thread which orchestrates these planning requests as well as action execution and state monitoring. We show how the behavior of the execution thread can be parametrized to achieve various strategies which can differ, for instance, depending on the distribution of internal planning requests over possible future execution states in anticipation of the uncertain evolution of the system, or over different underlying planners to take several levels into account. We demonstrate the flexibility and the relevance of our framework on various robotic benchmarks and real experiments that involve complex planning problems of different natures which could not be properly tackled by existing dedicated planning approaches which rely on the standard plan-then-execute loop
The Changing Waves of Migration from the Balkans to Turkey: A Historical Account
Ahmet İçduygu and Deniz Sert tell the history of migration from the Balkans to Turkey from the end of the nineteenth century to the present. They relate this history to nation-building, but also to economic conditions and specific Turkish concerns, such as the perceived need for immigration to compensate for a declining population at that time. They also demonstrate that after 1990, ethnic migration decreased and irregular labour migration became more important
Does Re-Design of the Policies on Housing Finance and Supply Help to Solve Housing Question of Turkey?
Reviews: Governance, Politics and the State, Globalization: A Critical Introduction, Urban Policy and Politics in Britain, Local and Regional Economic Development: Renegotiating Power under Labour, Istanbul: Between the Global and the Local, Regulating Pollution: A UK and EC Perspective, China's Regions, Polity, and Economy: A Study of Spatial Transformation in the Post-Reformera
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