Real-Time Decision Making and Path Planning for Robotic Autonomous Luggage Trolley Collection at Airports

2021 ◽  
pp. 1-10
Author(s):  
Jiankun Wang ◽  
Max Q.-H. Meng
Keyword(s):  
Decision Making ◽  
Path Planning ◽  
Real Time

Real-Time Robot Capability Analysis

2005 ◽  
Author(s):  
Chalongrath Pholsiri ◽  
Chetan Kapoor ◽  
Delbert Tesar
Keyword(s):  
Decision Making ◽  
Path Planning ◽  
Real Time ◽  
Computationally Efficient ◽  
New Approach ◽  
Ellipsoid Method ◽  
Capability Analysis ◽  
Computationally Intensive ◽  
Planar Robots

Robot Capability Analysis (RCA) is a process in which force/motion capabilities of a manipulator are evaluated. It is very useful in both the design and operational phases of robotics. Traditionally, ellipsoids and polytopes are used to both graphically and numerically represent these capabilities. Ellipsoids are computationally efficient but tend to underestimate while polytopes are accurate but computationally intensive. This article proposes a new approach to RCA called the Vector Expansion (VE) method. The VE method offers accurate estimates of robot capabilities in real time and therefore is very suitable in applications like task-based decision making or online path planning. In addition, this method can provide information about the joint that is limiting a robot capability at a given time, thus giving an insight as to how to improve the performance of the robot. This method is then used to estimate capabilities of 4-DOF planar robots and the results discussed and compared with the conventional ellipsoid method. The proposed method is also successfully applied to the 7-DOF Mitsubishi PA10-7C robot.

A Highly Efficient and Optimised Simulation Based Multi objective Decision-Making for FMS Control

2018 ◽  
Vol 6 (6) ◽  
pp. 98
Author(s):  
Shreyanshu Parhi ◽  
S. C. Srivastava
Keyword(s):  
Decision Making ◽  
Real Time ◽  
Manufacturing Industry ◽  
Simulation Software ◽  
Shop Floor ◽  
Simulation Tool ◽  
Routing Flexibility ◽  
Decision System ◽  
Multi Objective ◽  
Arena Simulation

Optimized and efficient decision-making systems is the burning topic of research in modern manufacturing industry. The aforesaid statement is validated by the fact that the limitations of traditional decision-making system compresses the length and breadth of multi-objective decision-system application in FMS.  The bright area of FMS with more complexity in control and reduced simpler configuration plays a vital role in decision-making domain. The decision-making process consists of various activities such as collection of data from shop floor; appealing the decision-making activity; evaluation of alternatives and finally execution of best decisions. While studying and identifying a suitable decision-making approach the key critical factors such as decision automation levels, routing flexibility levels and control strategies are also considered. This paper investigates the cordial relation between the system ideality and process response time with various prospective of decision-making approaches responsible for shop-floor control of FMS. These cases are implemented to a real-time FMS problem and it is solved using ARENA simulation tool. ARENA is a simulation software that is used to calculate the industrial problems by creating a virtual shop floor environment. This proposed topology is being validated in real time solution of FMS problems with and without implementation of decision system in ARENA simulation tool. The real-time FMS problem is considered under the case of full routing flexibility. Finally, the comparative analysis of the results is done graphically and conclusion is drawn.

scholarly journals BattleNet: Capturing Advantageous Battlefield in RTS Games (Student Abstract)

2020 ◽  
Vol 34 (10) ◽  
pp. 13849-13850
Author(s):  
Donghyeon Lee ◽  
Man-Je Kim ◽  
Chang Wook Ahn
Keyword(s):  
Artificial Intelligence ◽  
Decision Making ◽  
Real Time ◽  
Large Scale ◽  
Outcome Predictor ◽  
Short Term ◽  
Rts Game

In a real-time strategy (RTS) game, StarCraft II, players need to know the consequences before making a decision in combat. We propose a combat outcome predictor which utilizes terrain information as well as squad information. For training the model, we generated a StarCraft II combat dataset by simulating diverse and large-scale combat situations. The overall accuracy of our model was 89.7%. Our predictor can be integrated into the artificial intelligence agent for RTS games as a short-term decision-making module.

scholarly journals Data-Driven Dispatching Rules Mining and Real-Time Decision-Making Methodology in Intelligent Manufacturing Shop Floor with Uncertainty

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4836
Author(s):  
Liping Zhang ◽  
Yifan Hu ◽  
Qiuhua Tang ◽  
Jie Li ◽  
Zhixiong Li
Keyword(s):  
Decision Making ◽  
Data Base ◽  
Real Time ◽  
Manufacturing Industry ◽  
Job Shop ◽  
Data Driven ◽  
Dispatching Rules ◽  
Shop Floor ◽  
Production Data ◽  
Online Decision Making

In modern manufacturing industry, the methods supporting real-time decision-making are the urgent requirement to response the uncertainty and complexity in intelligent production process. In this paper, a novel closed-loop scheduling framework is proposed to achieve real-time decision making by calling the appropriate data-driven dispatching rules at each rescheduling point. This framework contains four parts: offline training, online decision-making, data base and rules base. In the offline training part, the potential and appropriate dispatching rules with managers’ expectations are explored successfully by an improved gene expression program (IGEP) from the historical production data, not just the available or predictable information of the shop floor. In the online decision-making part, the intelligent shop floor will implement the scheduling scheme which is scheduled by the appropriate dispatching rules from rules base and store the production data into the data base. This approach is evaluated in a scenario of the intelligent job shop with random jobs arrival. Numerical experiments demonstrate that the proposed method outperformed the existing well-known single and combination dispatching rules or the discovered dispatching rules via metaheuristic algorithm in term of makespan, total flow time and tardiness.

scholarly journals Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 642
Author(s):  
Luis Miguel González de Santos ◽  
Ernesto Frías Nores ◽  
Joaquín Martínez Sánchez ◽  
Higinio González Jorge
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Execution Time ◽  
Point Cloud ◽  
Indoor Environments ◽  
Calculation Algorithm ◽  
Time Restrictions ◽  
Planning Algorithm ◽  
Inspection Tasks ◽  
Path Planning Algorithm

Nowadays, unmanned aerial vehicles (UAVs) are extensively used for multiple purposes, such as infrastructure inspections or surveillance. This paper presents a real-time path planning algorithm in indoor environments designed to perform contact inspection tasks using UAVs. The only input used by this algorithm is the point cloud of the building where the UAV is going to navigate. The algorithm is divided into two main parts. The first one is the pre-processing algorithm that processes the point cloud, segmenting it into rooms and discretizing each room. The second part is the path planning algorithm that has to be executed in real time. In this way, all the computational load is in the first step, which is pre-processed, making the path calculation algorithm faster. The method has been tested in different buildings, measuring the execution time for different paths calculations. As can be seen in the results section, the developed algorithm is able to calculate a new path in 8–9 milliseconds. The developed algorithm fulfils the execution time restrictions, and it has proven to be reliable for route calculation.

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