scholarly journals Reactive Planning-Driven Approach to Online UAVs Mission Rerouting and Rescheduling

2021 ◽  
Vol 11 (19) ◽  
pp. 8898
Author(s):  
Radzki Grzegorz ◽  
Bocewicz Grzegorz ◽  
Dybala Bogdan ◽  
Banaszak Zbigniew
Keyword(s):  
Ad Hoc ◽  
Constraint Satisfaction Problem ◽  
Sufficient Conditions ◽  
Dynamic Environment ◽  
Route Planning ◽  
Weather Conditions ◽  
Contingency Planning ◽  
Reactive Planning ◽  
Np Hard Problem ◽  
Unpredictable Environment

The presented problem concerns the route planning of a UAV fleet carrying out deliveries to spatially dispersed customers in a highly dynamic and unpredictable environment within a specified timeframe. The developed model allows for predictive (i.e., taking into account forecasted changing weather conditions) and reactive (i.e., enabling contingency UAVs rerouting) delivery mission planning (i.e., NP-hard problem) in terms of the constraint satisfaction problem. Due to the need to implement an emergency return of the UAV to the base or handling ad hoc ordered deliveries, sufficient conditions have been developed. Checking that these conditions are met allows cases to be eliminated if they do not guarantee acceptable solutions, thereby allowing the calculations to be sped up. The experiments carried out showed the usefulness of the proposed approach in DSS-based contingency planning of the UAVs’ mission performed in a dynamic environment.

scholarly journals Efficient Planning of Humanoid Motions by Modifying Constraints

2013 ◽  
Vol 4 (1) ◽  
Author(s):  
ChangHyun Sung ◽  
Takahiro Kagawa ◽  
Yoji Uno
Keyword(s):  
Motion Planning ◽  
Sufficient Conditions ◽  
Computation Time ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Planning Problem ◽  
Point Representation ◽  
Efficient Planning ◽  
Unpredictable Environment

AbstractIn this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body motion. In order to be useful in an unpredictable environment, rapid planning is an essential problem. In this research, via-point representation is used for assigning sufficient conditions to deal with various constraints in the movement. The position, posture and velocity of the robot are constrained as a state of a via-point. In our algorithm, the feasible motions are planned by modifying via-points. Furthermore, we formulate the motion planning problem as a simple iterative method with a Linear Programming (LP) problem for efficiency of the motion planning. We have applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot can successfully score a goal with various courses corresponding to changing conditions of the location of an obstacle. The computation time was less than two seconds. These results indicate that the proposed algorithm can achieve efficient motion planning.

scholarly journals Creating private criteria for A-CDM effectiveness to take into account the interests of decision-making participants in a dynamic environment

2020 ◽  
Vol 23 (6) ◽  
pp. 53-64
Author(s):  
G. N. Lebedev ◽  
V. B. Malygin
Keyword(s):  
Genetic Algorithm ◽  
Decision Making ◽  
Production Process ◽  
Action Plan ◽  
Dynamic Environment ◽  
Weather Conditions ◽  
Collaborative Decision Making ◽  
Emergency Situations ◽  
Dynamic Priorities ◽  
Collaborative Decision

We consider the problem of collaborative decision making of the production process at airlines (CDM) in dynamically changing conditions of occurrence of emergency situations that make changes in the action plan. In the production process, due to the different orientation of the tasks to be solved, the solution may require a large or small number of possible variant solutions. The article presents a concrete example of such a situation affecting the conventional three services of the aviation complex, each with its own interests in the overall production process. The solution to this problem is the only option in favor of the overall production process. For this purpose, several designations and assumptions have been introduced, the list of which can be supplemented. Dynamic priorities are defined for each participant of the process. Optimization of collaborative decision-making can be achieved either by a simple search for solutions, or by using a genetic algorithm that allows you to get a suboptimal solution that meets the requirements of the participants in the process using a smaller number of iterations in real time. In this example, we consider a situation that occurs in a real enterprise due to bad weather conditions. Thus, dynamic priorities are assigned based on a multiplicative form for delayed flights, considering the interests of participants in the process, private criteria are formed for ranking flights at each step of rescheduling, and a genetic algorithm is applied. As a result, we obtained four solutions to the disruption caused by external factors. The first three options correspond to the interests of three parties concerned, and the fourth one is consolidated. All the solutions were different, which indicates the need for an objective and reasonable decision-making apparatus for joint management of the production process. The proposed mathematical apparatus has this ability and prospects for implementation.

scholarly journals Forecasting Electricity Prices: A Machine Learning Approach

Algorithms ◽  
2020 ◽  
Vol 13 (5) ◽  
pp. 119
Author(s):  
Mauro Castelli ◽  
Aleš Groznik ◽  
Aleš Popovič
Keyword(s):  
Machine Learning ◽  
Electricity Market ◽  
Dynamic Environment ◽  
Weather Conditions ◽  
Programming Approach ◽  
Future Price ◽  
Energy Prices ◽  
Electricity Prices ◽  
Market Participants ◽  
Electricity Price Forecasting

The electricity market is a complex, evolutionary, and dynamic environment. Forecasting electricity prices is an important issue for all electricity market participants. In this study, we shed light on how to improve electricity price forecasting accuracy through the use of a machine learning technique—namely, a novel genetic programming approach. Drawing on empirical data from the largest EU energy markets, we propose a forecasting model that considers variables related to weather conditions, oil prices, and CO2 coupons and predicts energy prices 24 h ahead. We show that the proposed model provides more accurate predictions of future electricity prices than existing prediction methods. Our important findings will assist the electricity market participants in forecasting future price movements.

Building autonomic systems using collaborative reinforcement learning

2006 ◽  
Vol 21 (3) ◽  
pp. 231-238 ◽  
Author(s):  
JIM DOWLING ◽  
RAYMOND CUNNINGHAM ◽  
EOIN CURRAN ◽  
VINNY CAHILL
Keyword(s):  
Reinforcement Learning ◽  
Ad Hoc ◽  
Optimization Problems ◽  
System Optimization ◽  
Multi Agent Systems ◽  
Learning Agents ◽  
Coordination Model ◽  
Routing Performance ◽  
Multi Agent ◽  
Unpredictable Environment

This paper presents Collaborative Reinforcement Learning (CRL), a coordination model for online system optimization in decentralized multi-agent systems. In CRL system optimization problems are represented as a set of discrete optimization problems, each of whose solution cost is minimized by model-based reinforcement learning agents collaborating on their solution. CRL systems can be built to provide autonomic behaviours such as optimizing system performance in an unpredictable environment and adaptation to partial failures. We evaluate CRL using an ad hoc routing protocol that optimizes system routing performance in an unpredictable network environment.

Asymptotic stability of heteroclinic cycles in systems with symmetry

1995 ◽  
Vol 15 (1) ◽  
pp. 121-147 ◽  
Author(s):  
Martin Krupa ◽  
Ian Melbourne
Keyword(s):  
Asymptotic Stability ◽  
Ad Hoc ◽  
Necessary Conditions ◽  
Sufficient Conditions ◽  
Higher Dimensions ◽  
Systematic Investigation ◽  
Heteroclinic Cycles ◽  
General Sufficient Condition ◽  
Higher Dimensional ◽  
The Stability

AbstractSystems possessing symmetries often admit heteroclinic cycles that persist under perturbations that respect the symmetry. The asymptotic stability of such cycles has previously been studied on an ad hoc basis by many authors. Sufficient conditions, but usually not necessary conditions, for the stability of these cycles have been obtained via a variety of different techniques.We begin a systematic investigation into the asymptotic stability of such cycles. A general sufficient condition for asymptotic stability is obtained, together with algebraic criteria for deciding when this condition is also necessary. These criteria are always satisfied in ℝ3 and often satisfied in higher dimensions. We end by applying our results to several higher-dimensional examples that occur in mode interactions with O(2) symmetry.

scholarly journals Detection of Traffic Congestion and Marine Border Intrusion using Vehicular ad-hoc Networks

2019 ◽  
Vol 8 (10) ◽  
pp. 818-825
Keyword(s):  
Real Time ◽  
Vehicular Ad Hoc Networks ◽  
Ad Hoc ◽  
Safety Information ◽  
Mobile Network ◽  
Weather Conditions ◽  
Border Crossing ◽  
Driving Experience ◽  
Wireless Router ◽  
Road Side Units

The Vehicular Ad-hoc network, or VANET, is for sharing of emergency and safety information among vehicles to ensure safe travelling of users in road. It is the technology that considers moving cars as nodes to create a mobile network. VANET turns every participating car into wireless router or node, allowing cars to establish communication. Vehicles can communicate within themselves (V2V) and also with the road side units (V2I). Vehicles communicating with other vehicles are likely to enhance the driving experience, awareness, situation perception and thus safety. In response to the problem of drastically increasing road accidents and climatic disasters like smoke, fog etc., we have designed and tested in various traffic scenarios of Kathipara(area in Chennai Tamilnadu), T.Nagar(area in Chennai, Tamilnadu), highway and a village . Each scenario is very different from each other; like Kathipara having moderate real time traffic, T.Nagar having extensive dense traffic, highways with irregular traffic and villages which having very few vehicles for most time. We designed the placement of RSUs(Road Side Units) in each scenario and we analyzed the delay and packet delivery ratios(PDR) in each scenario. These results would guarantee the use of VANET in real time. Yet another traffic scenario we have considered is what happens in marine environment. Unintentional International border crossing by fishermen and hardships encountered by fishermen due to extreme weather conditions are the motivation behind our conceptualizing a network for communication among boats which can be called a BANET (Boat Adhoc Vehicular Network)

scholarly journals Geological mapping and mineral exploration in the Motzfeldt Centre of the Igaliko nepheline syenite complex, South Greenland

1985 ◽  
Vol 125 ◽  
pp. 56-60
Author(s):  
T Tukiainen
Keyword(s):  
Ad Hoc ◽  
Raw Materials ◽  
Mineral Exploration ◽  
Weather Conditions ◽  
Field Work ◽  
Geological Mapping ◽  
Base Camp ◽  
Uranium Exploration ◽  
Geophysical Investigations ◽  
Bad Weather

The mineral occurrences of the Motzfeldt Centre, discovered by the South Greenland regional uranium exploration programme (Armour-Brown et al., 1984, Tukiainen et al., 1984), are now being explored for their Nb and Ta potential under a project financed by the EEC's Resources and Raw Materials Programme and The Geological Survey of Greenland. Accompanying the mineral exploration several other investigations are being carried out, and there is a dose co-operation between the various groups working in the area. The 1984 field activities comprised geological mapping, geochemical and geophysical investigations, and mineral exploration. The field activities were supported by GGU's facilities at Narssarssuaq where Jørgen Lau acted as base camp manager. A Jet Ranger helicopter, chartered on an ad hoc basis from the Ice Reconnaissance Centre at Narssarssuaq, was used for camp moves, geological reconnaissance and servicing of the field teams. Despite the bad weather conditions which prevailed for most of the season the main objectives of the field work were achieved.

scholarly journals Enhanced Vehicular AD HOC Network Protocol to Improve Quality of Service in Vehicle to Vehicle Communication

2019 ◽  
Vol 8 (9S) ◽  
pp. 175-181
Keyword(s):  
Quality Of Service ◽  
Ad Hoc Networks ◽  
Routing Protocols ◽  
Vehicular Ad Hoc Networks ◽  
Ad Hoc ◽  
Rapid Change ◽  
Dynamic Environment ◽  
Dynamic Source ◽  
Hoc Networks

The vehicular ad-hoc networks (VANETs) are specific type or a sub form of Mobile ad hoc networks (MANETs). However the main problem which is related to this network is the Quality of Service (QoS) which mainly occurs due to rapid change topology nature in the network and lack of stability of communication. Consequently, some of the challenges that researcher focus on routing protocols for VANET. The problem which is faced by this network with these protocols is the dynamic environment in their route instability. This paper approaches the combination of Dynamic Source Routing protocol (DSR) and Particle Swarm Optimization Algorithm (PSO) to solve the problems of Routing protocols which help to improve the Quality of service (QoS) in the network. The approach which is introduced in this paper is to make use for making the better Quality of Service (QoS) in the VANET. The simulation results in MATLAB exactly predict the overall performances regarding the proposed work in terms of the packet drop ratio, transmission delay, channel utilization, Throughput and Energy consumption under varying conditions

scholarly journals Intelligent Accident Prevention in VANETs

2019 ◽  
Vol 8 (2) ◽  
pp. 2401-2405
Keyword(s):  
Road Safety ◽  
Ad Hoc Network ◽  
Ad Hoc ◽  
Weather Conditions ◽  
Accident Prevention ◽  
Road Accidents ◽  
Human Errors ◽  
The Road ◽  
On The Road ◽  
Nearest Neighbour Classifier

Accident prevention has always been an important issue for governments and car manufacturers across the world. Roughly 1.5 million people are killed in road accidents annually in India. The primary causes of accidents are broken and weathered roads, hazardous weather conditions, as well as human errors such as over speeding, distracted driving, and not following road safety rules. The traffic police work hard to enforce strict rules and maintain accident-free roads, but this hasn’t proven to be efficient. A vehicular ad hoc network (VANET), as the name says, is a network consisting of nodes. These nodes depict vehicles on the road. This project aims to use this technology with K-Nearest Neighbour Classifier (KNN) to create a prototype of a system which can notify drivers of an impending accident caused by forward collisions, rear collision etc., thus enabling them to take immediate action and prevent it.

An observational study of ad-hoc anaesthesia teams

2019 ◽  
Vol 30 (4) ◽  
pp. 102-106
Author(s):  
Anderz MW Birkestam ◽  
Caisa Öster ◽  
Erebouni Arakelian
Keyword(s):  
Emergency Department ◽  
Observational Study ◽  
Emergency Departments ◽  
Ad Hoc ◽  
Assessment Tool ◽  
Dynamic Environments ◽  
Verbal Communication ◽  
Team Members ◽  
Assessment Measure ◽  
Unpredictable Environment

Background Anaesthesia teams are temporarily assembled to cooperate with teams in emergency departments in the immediate management of events compromising patients’ airway, ventilation and circulation. Purpose The aim was to describe a temporary ad-hoc anaesthesia team’s performance. Design An observational study was conducted. Methods Data, collected with 12 non-participatory observations, were analysed using both an thematic method, and a validated assessment tool, the Team Emergency Assessment Measure. Results Three themes were identified: (1) flexibility in assuming varying roles, (2) expertise in verbal and non-verbal communication and (3) skills dealing with the challenges of working in unfamiliar dynamic environments. Ninety per cent of anaesthesia teams scored 7.6 (0–10) on the overall assessment according to the Team Emergency Assessment Measure rating. Conclusion Ad-hoc anaesthesia team members communicated in various ways and the anaesthesia team adapted well to the unpredictable environment in the emergency department.

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