scholarly journals Planning for Hybrid Systems via Satisfiability Modulo Theories

2020 ◽  
Vol 67 ◽  
pp. 235-283 ◽  
Author(s):  
Michael Cashmore ◽  
Daniele Magazzeni ◽  
Parisa Zehtabi
Keyword(s):  
Hybrid Systems ◽  
Search Space ◽  
Satisfiability Modulo Theories ◽  
Planning Problem ◽  
Control Parameters ◽  
Continuous Change ◽  
Infinite Domain ◽  
Non Linear ◽  
Planning Algorithm ◽  
Definition Of

Planning for hybrid systems is important for dealing with real-world applications, and PDDL+ supports this representation of domains with mixed discrete and continuous dynamics. In this paper we present a new approach for planning for hybrid systems, based on encoding the planning problem as a Satisfiability Modulo Theories (SMT) formula. This is the first SMT encoding that can handle the whole set of PDDL+ features (including processes and events), and is implemented in the planner SMTPlan. SMTPlan not only covers the full semantics of PDDL+, but can also deal with non-linear polynomial continuous change without discretization. This allows it to generate plans with non-linear dynamics that are correct-by-construction. The encoding is based on the notion of happenings, and can be applied on domains with nonlinear continuous change. We describe the encoding in detail and provide in-depth examples. We apply this encoding in an iterative deepening planning algorithm. Experimental results show that the approach dramatically outperforms existing work in finding plans for PDDL+ problems. We also present experiments which explore the performance of the proposed approach on temporal planning problems, showing that the scalability of the approach is limited by the size of the discrete search space. We further extend the encoding to include planning with control parameters. The extended encoding allows the definition of actions to include infinite domain parameters, called control parameters. We present experiments on a set of problems with control parameters to demonstrate the positive effect they provide to the approach of planning via SMT.

Extended Automata for Temporal Planning of Interacting Agents

2017 ◽  
Vol 5 (1) ◽  
pp. 30-48
Author(s):  
Christine Largouët ◽  
Omar Krichen ◽  
Yulong Zhao
Keyword(s):  
Timed Automata ◽  
Marine Ecosystem ◽  
Planning Problem ◽  
Management Problem ◽  
Timing Constraints ◽  
Goal State ◽  
Interacting Agents ◽  
Planning Algorithm ◽  
Definition Of ◽  
Classical Transport

In this paper, the authors consider the planning problem for a system represented as a set of interacting agents evolving along time according to explicit timing constraints. Given a goal, the planning problem is to find the sequence of actions such that the system reaches the goal state in a limited time and in an optimal manner, assuming actions have a cost. In their approach, the planning problem is based on model-checking and controller synthesis techniques while the goal is defined using temporal logic. Each agent of the system is represented using the formalism of Priced Timed Game Automata (PTGA). PTGA is an extension of Timed Automata that allows the representation of cost on actions and the definition of uncontrollable actions. The authors define a planning algorithm that computes the best strategy to achieve a goal. To experiment their approach, they extend the classical Transport Domain with timing constraints, cost on actions and uncontrollable actions. The planning algorithm is finally presented on a marine ecosystem management problem.

Research on pull-type multi-AGV system dynamic path optimization based on time window

2021 ◽  
pp. 095440702098271
Author(s):  
Hongying Shan ◽  
Chuang Wang ◽  
Cungang Zou ◽  
Mengyao Qin
Keyword(s):  
Path Planning ◽  
Time Window ◽  
Planning Problem ◽  
Dijkstra Algorithm ◽  
Before And After ◽  
Common Planning ◽  
Planning Algorithm ◽  
Dynamic Path ◽  
Set Up ◽  
Path Planning Algorithm

This paper is a study of the dynamic path planning problem of the pull-type multiple Automated Guided Vehicle (multi-AGV) complex system. First, based on research status at home and abroad, the conflict types, common planning algorithms, and task scheduling methods of different AGV complex systems are compared and analyzed. After comparing the different algorithms, the Dijkstra algorithm was selected as the path planning algorithm. Secondly, a mathematical model is set up for the shortest path of the total driving path, and a general algorithm for multi-AGV collision-free path planning based on a time window is proposed. After a thorough study of the shortcomings of traditional single-car planning and conflict resolution algorithms, a time window improvement algorithm for the planning path and the solution of the path conflict covariance is established. Experiments on VC++ software showed that the improved algorithm reduces the time of path planning and improves the punctual delivery rate of tasks. Finally, the algorithm is applied to material distribution in the OSIS workshop of a C enterprise company. It can be determined that the method is feasible in the actual production and has a certain application value by the improvement of the data before and after the comparison.

scholarly journals Optimum Distribution System Expansion Planning Incorporating DG Based on N-1 Criterion for Sustainable System

2021 ◽  
Vol 13 (12) ◽  
pp. 6708
Author(s):  
Hamza Mubarak ◽  
Nurulafiqah Nadzirah Mansor ◽  
Hazlie Mokhlis ◽  
Mahazani Mohamad ◽  
Hasmaini Mohamad ◽  
...  
Keyword(s):  
Power Systems ◽  
Distribution System ◽  
Industrial Revolution ◽  
Optimal Solution ◽  
Search Space ◽  
Planning Problem ◽  
System Expansion ◽  
Optimum Distribution ◽  
Optimal Sizing ◽  
Expansion Planning

Demand for continuous and reliable power supply has significantly increased, especially in this Industrial Revolution 4.0 era. In this regard, adequate planning of electrical power systems considering persistent load growth, increased integration of distributed generators (DGs), optimal system operation during N-1 contingencies, and compliance to the existing system constraints are paramount. However, these issues need to be parallelly addressed for optimum distribution system planning. Consequently, the planning optimization problem would become more complex due to the various technical and operational constraints as well as the enormous search space. To address these considerations, this paper proposes a strategy to obtain one optimal solution for the distribution system expansion planning by considering N-1 system contingencies for all branches and DG optimal sizing and placement as well as fluctuations in the load profiles. In this work, a hybrid firefly algorithm and particle swarm optimization (FA-PSO) was proposed to determine the optimal solution for the expansion planning problem. The validity of the proposed method was tested on IEEE 33- and 69-bus systems. The results show that incorporating DGs with optimal sizing and location minimizes the investment and power loss cost for the 33-bus system by 42.18% and 14.63%, respectively, and for the 69-system by 31.53% and 12%, respectively. In addition, comparative studies were done with a different model from the literature to verify the robustness of the proposed method.

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

Robotica ◽  
2021 ◽  
pp. 1-30
Author(s):  
Ümit Yerlikaya ◽  
R.Tuna Balkan
Keyword(s):  
Path Planning ◽  
Extreme Environment ◽  
Configuration Spaces ◽  
Planning Problem ◽  
Different Types ◽  
Planning Algorithm ◽  
Line Path ◽  
Path Planning Algorithm ◽  
Path Planning Problem ◽  
System Operating

Abstract Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.

MONTE CARLO METHODS IN FUZZY NON-LINEAR REGRESSION

2008 ◽  
Vol 04 (02) ◽  
pp. 123-141 ◽  
Author(s):  
AREEG ABDALLA ◽  
JAMES BUCKLEY
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Linear Regression ◽  
Fuzzy Numbers ◽  
Random Number ◽  
Random Number Generator ◽  
Search Space ◽  
Triangular Fuzzy Numbers ◽  
Non Linear ◽  
Regression Problems

We apply our new fuzzy Monte Carlo method to certain fuzzy non-linear regression problems to estimate the best solution. The best solution is a vector of triangular fuzzy numbers, for the fuzzy coefficients in the model, which minimizes an error measure. We use a quasi-random number generator to produce random sequences of these fuzzy vectors which uniformly fill the search space. We consider example problems to show that this Monte Carlo method obtains solutions comparable to those obtained by an evolutionary algorithm.

scholarly journals SMT-Based Contention-Free Task Mapping and Scheduling on 2D/3D SMART NoC with Mixed Dimension-Order Routing

2022 ◽  
Vol 19 (1) ◽  
pp. 1-21
Author(s):  
Daeyeal Lee ◽  
Bill Lin ◽  
Chung-Kuan Cheng
Keyword(s):  
System Performance ◽  
Search Space ◽  
Satisfiability Modulo Theories ◽  
Low Latency ◽  
Task Mapping ◽  
Single Cycle ◽  
Space Reduction ◽  
Reduction Techniques ◽  
2D And 3D ◽  
Mixed Dimension

SMART NoCs achieve ultra-low latency by enabling single-cycle multiple-hop transmission via bypass channels. However, contention along bypass channels can seriously degrade the performance of SMART NoCs by breaking the bypass paths. Therefore, contention-free task mapping and scheduling are essential for optimal system performance. In this article, we propose an SMT (Satisfiability Modulo Theories)-based framework to find optimal contention-free task mappings with minimum application schedule lengths on 2D/3D SMART NoCs with mixed dimension-order routing. On top of SMT’s fast reasoning capability for conditional constraints, we develop efficient search-space reduction techniques to achieve practical scalability. Experiments demonstrate that our SMT framework achieves 10× higher scalability than ILP (Integer Linear Programming) with 931.1× (ranges from 2.2× to 1532.1×) and 1237.1× (ranges from 4× to 4373.8×) faster average runtimes for finding optimum solutions on 2D and 3D SMART NoCs and our 2D and 3D extensions of the SMT framework with mixed dimension-order routing also maintain the improved scalability with the extended and diversified routing paths, resulting in reduced application schedule lengths throughout various application benchmarks.

The Static Aeroelasticity of Slender Configurations

1963 ◽  
Vol 14 (1) ◽  
pp. 75-104 ◽  
Author(s):  
G. J. Hancock
Keyword(s):  
Static Stability ◽  
Aerodynamic Forces ◽  
Flexible Aircraft ◽  
The Past ◽  
Plate Models ◽  
Non Linear ◽  
The Future ◽  
Static Aeroelasticity ◽  
Definition Of ◽  
Image Position

SummaryThe validity and applicability of the static margin (stick fixed) Kn,where as defined by Gates and Lyon is shown to be restricted to the conventional flexible aircraft. Alternative suggestions for the definition of static margin are put forward which can be equally applied to the conventional flexible aircraft of the past and the integrated flexible aircraft of the future. Calculations have been carried out on simple slender plate models with both linear and non-linear aerodynamic forces to assess their static stability characteristics.

scholarly journals Li–Yorke Chaos in Hybrid Systems on a Time Scale

2015 ◽  
Vol 25 (14) ◽  
pp. 1540024 ◽  
Author(s):  
Marat Akhmet ◽  
Mehmet Onur Fen
Keyword(s):  
Differential Equations ◽  
Hybrid Systems ◽  
Time Scales ◽  
Time Scale ◽  
Impulsive Differential Equations ◽  
Reduction Technique ◽  
Duffing Equation ◽  
Dynamic Equations ◽  
Definition Of ◽  
First Time

By using the reduction technique to impulsive differential equations [Akhmet & Turan, 2006], we rigorously prove the presence of chaos in dynamic equations on time scales (DETS). The results of the present study are based on the Li–Yorke definition of chaos. This is the first time in the literature that chaos is obtained for DETS. An illustrative example is presented by means of a Duffing equation on a time scale.

On techniques of expert systems on the example of the Akinator program

2020 ◽  
Vol 25 (2) ◽  
pp. 7-13
Author(s):  
Zhangozha A.R. ◽  
Keyword(s):  
Artificial Intelligence ◽  
Machine Learning ◽  
Neural Networks ◽  
Expert Systems ◽  
Knowledge Base ◽  
Hybrid Systems ◽  
Online Game ◽  
Basic Principles ◽  
The Moment ◽  
Definition Of

On the example of the online game Akinator, the basic principles on which programs of this type are built are considered. Effective technics have been proposed by which artificial intelligence systems can build logical inferences that allow to identify an unknown subject from its description (predicate). To confirm the considered hypotheses, the terminological analysis of definition of the program "Akinator" offered by the author is carried out. Starting from the assumptions given by the author's definition, the article complements their definitions presented by other researchers and analyzes their constituent theses. Finally, some proposals are made for the next steps in improving the program. The Akinator program, at one time, became one of the most famous online games using artificial intelligence. And although this was not directly stated, it was clear to the experts in the field of artificial intelligence that the program uses the techniques of expert systems and is built on inference rules. At the moment, expert systems have lost their positions in comparison with the direction of neural networks in the field of artificial intelligence, however, in the case considered in the article, we are talking about techniques using both directions – hybrid systems. Games for filling semantics interact with the user, expanding their semantic base (knowledge base) and use certain strategies to achieve the best result. The playful form of such semantics filling programs is beneficial for researchers by involving a large number of players. The article examines the techniques used by the Akinator program, and also suggests possible modifications to it in the future. This study, first of all, focuses on how the knowledge base of the Akinator program is built, it consists of incomplete sets, which can be filled and adjusted as a result of further iterations of the program launches. It is important to note our assumption that the order of questions used by the program during the game plays a key role, because it determines its strategy. It was identified that the program is guided by the principles of nonmonotonic logic – the assumptions constructed by the program are not final and can be rejected by it during the game. The three main approaches to acquisite semantics proposed by Jakub Šimko and Mária Bieliková are considered, namely, expert work, crowdsourcing and machine learning. Paying attention to machine learning, the Akinator program using machine learning to build an effective strategy in the game presents a class of hybrid systems that combine the principles of two main areas in artificial intelligence programs – expert systems and neural networks.

Multi-Car Convex Feasible Set Algorithm in Trajectory Planning

2020 ◽  
Author(s):  
Jing Huang ◽  
Changliu Liu
Keyword(s):  
Convex Optimization ◽  
Quadratic Programming ◽  
Real Time ◽  
Trajectory Planning ◽  
Autonomous Driving ◽  
Curse Of Dimensionality ◽  
Planning Problem ◽  
Feasible Set ◽  
Planning Algorithm ◽  
Vehicle Trajectory

Abstract Trajectory planning is an essential module for autonomous driving. To deal with multi-vehicle interactions, existing methods follow the prediction-then-plan approaches which first predict the trajectories of others then plan the trajectory for the ego vehicle given the predictions. However, since the true trajectories of others may deviate from the predictions, frequent re-planning for the ego vehicle is needed, which may cause many issues such as instability or deadlock. These issues can be overcome if all vehicles can form a consensus by solving the same multi-vehicle trajectory planning problem. Then the major challenge is how to efficiently solve the multi-vehicle trajectory planning problem in real time under the curse of dimensionality. We introduce a novel planner for multi-vehicle trajectory planning based on the convex feasible set (CFS) algorithm. The planning problem is formulated as a non-convex optimization. A novel convexification method to obtain the maximal convex feasible set is proposed, which transforms the problem into a quadratic programming. Simulations in multiple typical on-road driving situations are conducted to demonstrate the effectiveness of the proposed planning algorithm in terms of completeness and optimality.

Sign in / Sign up

Export Citation Format

Share Document