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    Wyświetlanie 1-10 z 10
    Tytuł:
    Planning the Waypoint - Following Task for a Unicycle - Like Robot in Cluttered Environments
    Autorzy:
    Gawron, T.
    Michalek, M. M.
    Powiązania:
    https://bibliotekanauki.pl/articles/384869.pdf
    Data publikacji:
    2015
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    VFO control
    waypoint-following
    unicyclelike robot
    combinatorial search
    controller-driven motion planning
    Opis:
    The paper presents a two-stage, global planning algorithm for the waypoint-following task realized by a unicycle-like robot in a clutiered environment. It assumes motion execution with the VFO (Vector Field Orientation) controller. The planner is a result of a controllerdriven design process and exploits particular properties of the VFO controller. Emphasis has been put on the plan safety in the sense of maximizing the distance from the obstacles. In the first stage of planning, an A*-like pathfinding algorithm is used to find a safe geometric plan (i.e. a polyline) in a two-dimensional occupancy grid. During the second stage, a sequence of waypoint posi tions is selected from the geometric plan and reference orientations at the waypoints are planned. Orienta tion planning exploits properties of the VFO controller used for subsequent motion execution. Proposed twostage algorithm admits changes of robot motion strategy (forward/backward movement) and has lower computational cost than the full configuration space search. Performance of the algorithm can be intuitively tuned with provided design parameters.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2015, 9, 1; 77-90
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Multi-strategy navigation for a mobile data acquisition platform using genetic algorithms
    Autorzy:
    Halal, F.
    Zaremba, M. B.
    Powiązania:
    https://bibliotekanauki.pl/articles/950950.pdf
    Data publikacji:
    2017
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    genetic algorithms
    path planning
    monitoring system
    remote sensing
    navigation control
    heuristic search
    Opis:
    Monitoring of biological and chemical pollutants in large bodies of water requires the acquisition of a large number of in-situ measurements by a mobile sensor platform. Critical to this problem is an efficient path planning method, easily adaptable to different control strategies that ensure the collection of data of the greatest value. This paper proposes a deliberative path planning algorithm, which features the use of waypoints for a ship navigation trajectory that are generated by Genetic Algorithm (GA) based procedures. The global search abilities of Genetic Algorithms are combined with the heuristic local search in order to implement a navigation behaviour suitable to the required data collection strategy. The adaptive search system operates on multi-layer maps generated from remote sensing data, and provides the capacity for dealing with multiple classes of water pollutants. A suitable objective function was proposed to handle different sampling strategies for the collection of samples from multiple water pollutant classes. A region-of-interest (ROI) component was introduced to deal effectively with the large scale of search environments by pushing the search towards ROI zones. This resulted in the reduction of the search time and the computing cost, as well as good convergence to an optimal solution. The global path planning performance was further improved by multipoint crossover operators running in each GA generation. The system was developed and tested for inland water monitoring and trajectory planning of a mobile sample acquisition platform using commercially available satellite data.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 1; 30-41
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A graphical model to determine the influence of surface currents on small objects immersed in water
    Autorzy:
    Kijewska, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/135216.pdf
    Data publikacji:
    2016
    Wydawca:
    Akademia Morska w Szczecinie. Wydawnictwo AMSz
    Tematy:
    estimating survivor location
    search survivor movement
    object searching
    search planning
    trajectory prediction
    search and rescue
    graph theory
    hydrodynamic models
    Opis:
    This paper proposes a model of the interactions between surface currents and small, moving objects. These objects are immersed in water so that the part extending above the water is no larger than a human head. These interactions are defined as the weighted-directed graph. The basis for determining the edge weights are the directions of the surface currents. The speeds of these currents are used to calculate the time of moving objects. According to the modelling method of the surface-current influence on small objects, presented in this paper, it is possible to implement an application supporting search-and-rescue-operation planning. This method can be used to locate small objects, such as survivors, when planning search-and-rescue operations. Thus, the routes of these objects moving together with surface-water masses can be predicted using this method.
    Źródło:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2016, 47 (119); 170-175
    1733-8670
    2392-0378
    Pojawia się w:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Route prediction for a person in water drifting in chosen basins using graph theory
    Autorzy:
    Kijewska, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/135003.pdf
    Data publikacji:
    2017
    Wydawca:
    Akademia Morska w Szczecinie. Wydawnictwo AMSz
    Tematy:
    route prediction
    trajectory prediction
    object movement
    search planning
    survivor
    person in water
    search and rescue
    graph theory
    Opis:
    In this paper, the route prediction for a person in water was performed on the basis of a developed graph algorithm. This person drifted in water under the influence of surface currents and wind. The total drift route for the person in water was established as the route in a weighted directed graph. Vertices of this graph correspond to given points within a given basin. Additionally, the graph’s edges show possible directions of the overall human drift. The weight of the given edge describes the difference between the gradient of the edge and the total drift direction calculated on the basis of surface current field data and wind field data. An application has been created on the basis of a given algorithm which might be used to support the search for survivors in coastal areas (e.g. port basins, basins adjacent to the port, bays and sea areas) for which hydrodynamic models reliably reflect local phenomena.
    Źródło:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2017, 50 (122); 45-51
    1733-8670
    2392-0378
    Pojawia się w:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Verification of ships trajectory planning algorithms using real navigational data
    Autorzy:
    Lazarowska, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/117103.pdf
    Data publikacji:
    2019
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    Visibility Graph-search Algorithm (VGA)
    Discrete Artificial Potential Field (DAPF)
    real navigational data
    ARPA
    ship's trajectory planning
    ship's trajectory planning algorithms
    Ant Colony Optimization (ACO)
    Trajectory Base Algorithm (TBA)
    Opis:
    The paper presents results of ship's safe trajectory planning algorithms verification. Real navigational data registered from a radar with an Automatic Radar Plotting Aid on board the research and training ship Horyzont II were used as input data to the algorithms. The algorithms verified in the presented research include the Ant Colony Optimization algorithm (ACO), the Trajectory Base Algorithm (TBA), the Visibility Graph-search Algorithm (VGA) ant the Discrete Artificial Potential Field algorithm (DAPF). Details concerning data registration and exemplary results obtained with the use or real navigational data are introduced and summarized in the paper. Presented results prove the applicability of proposed algorithms for solving the ship's safe trajectory planning problem.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 3; 559-564
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    The impact of relevance feedback on web-based information retrieval for horizon scanning applications
    Autorzy:
    Palomino, Marco A.
    Taylor, Tim
    McBride, Geoff
    Mortimer, Hugh
    Owen, Richard
    Depledge, Michael
    Powiązania:
    https://bibliotekanauki.pl/articles/432410.pdf
    Data publikacji:
    2013
    Wydawca:
    Wydawnictwo Uniwersytetu Ekonomicznego we Wrocławiu
    Tematy:
    horizon scanning
    web mining
    strategic planning
    search engines
    Opis:
    Horizon scanning is being increasingly regarded as an instrument to support strategic decision making. It requires the systematic examination of data to identify potential threats and opportunities to improve resilience and decrease risk exposure. Horizon scanning may benefit from various retrieval techniques to augment the acquisition of data, though this involves a search for novel and emerging issues without knowing them beforehand. To optimise such a search, we propose the use of relevance feedback, which involves human interaction in the retrieval process so as to improve the results. As a proof-of-concept demonstration, we have carried out a horizon scanning exercise which showed that our utilisation of relevance feedback for horizon scanning applications was able to maintain the retrieval of relevant documents constant over the entire length of the experiment, without any reduction. This represents an improvement over previous studies where relevance feedback was not considered.
    Źródło:
    Informatyka Ekonomiczna; 2013, 2(28); 77-99
    1507-3858
    Pojawia się w:
    Informatyka Ekonomiczna
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Wybrane zagadnienia wielokryterialnego planowania sieci WLAN
    Selected issues of multi-objective WLAN planning
    Autorzy:
    Pieprzycki, A.
    Ludwin, W.
    Powiązania:
    https://bibliotekanauki.pl/articles/93106.pdf
    Data publikacji:
    2018
    Wydawca:
    Państwowa Wyższa Szkoła Zawodowa w Tarnowie
    Tematy:
    wielokryterialny algorytm optymalizacji
    planowanie
    WLAN
    optymalizacja nieliniowa
    cuckoo search
    multi objective swarm optimization
    multiobjective cuckoo search
    WLAN planning
    non–linear optimization
    Opis:
    Celem artykułu jest zastosowanie wielokryterialnego podejścia do planowania MOO (Multi Objective Optimisation) sieci łączności bezprzewodowej WLAN (Wireless Local Area Network) z wykorzystaniem wybranych rojowych metod optymalizacji. W tym celu, w procesie poszukiwania ekstremów dwóch funkcji kryterialnych, które są wskaźnikiem optymalizacyjnych, zastosowano dwa algorytmy rojowe: kukułki MOCS (Multi Objective Cuckoo Search) oraz optymalizacji rojem cząstek MOPSO (Multi Objective Particle Swarm Optimisation). Wyniki porównano z jednokryterialnym SOO (Single Objective Optimisation) zasięgowym planowaniem sieci bazującym na regularnym rozmieszczeniu punktów testujących TP (test point) z wykorzystaniem rojowego algorytmu kukułki CS (Cuckoo Search).
    The aim of the article is to apply a multicriteria approach to MOO (Multi Objective Optimization) planning for WLAN (Wireless Local Area Network) using selected swarm optimization methods. For this purpose, in the process of searching for the extremum of two criterion functions, which are an optimization index, two swarm algorithms were used: MOCS (Multi Objective Cuckoo Search) and MOPSO (Multi Objective Particle Swarm Optimization). The results were compared with the single-criterion SOO (Single Objective Optimization) range-based network planning based on the regular distribution of TP (test point) using the CS Cuckoo Search algorithm.
    Źródło:
    Science, Technology and Innovation; 2018, 3, 2; 69-78
    2544-9125
    Pojawia się w:
    Science, Technology and Innovation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    D* Extra Lite: A dynamic A* with search-tree cutting and frontier-gap repairing
    Autorzy:
    Przybylski, M.
    Putz, B.
    Powiązania:
    https://bibliotekanauki.pl/articles/329769.pdf
    Data publikacji:
    2017
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    shortest path planning
    incremental heuristic search
    mobile robot navigation
    video game
    planowanie najkrótszej ścieżki
    wyszukiwanie heurystyczne
    nawigacja robota mobilnego
    gra wideo
    Opis:
    Searching for the shortest-path in an unknown or changeable environment is a common problem in robotics and video games, in which agents need to update maps and to perform re-planning in order to complete their missions. D* Lite is a popular incremental heuristic search algorithm (i.e., it utilizes knowledge from previous searches). Its efficiency lies in the fact that it re-expands only those parts of the search-space that are relevant to registered changes and the current state of the agent. In this paper, we propose a new D* Extra Lite algorithm that is close to a regular A*, with reinitialization of the affected search-space achieved by search-tree branch cutting. The provided worst-case complexity analysis strongly suggests that D* Extra Lite’s method of reinitialization is faster than the focused approach to reinitialization used in D* Lite. In comprehensive tests on a large number of typical two-dimensional path-planning problems, D* Extra Lite was 1.08 to 1.94 times faster than the optimized version of D* Lite. Moreover, while demonstrating that it can be particularly suitable for difficult, dynamic problems, as the problem-complexity increased, D* Extra Lite’s performance further surpassed that of D*Lite. The source code of the algorithm is available on the open-source basis.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2017, 27, 2; 273-290
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Iterated Local Search for Foundry Lot-sizing and Scheduling Problem with Setup Costs
    Autorzy:
    Stawowy, A.
    Duda, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/379789.pdf
    Data publikacji:
    2017
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    information technology
    foundry industry
    scheduling problem
    production planning
    local search heuristics
    technologia informatyczna
    przemysł odlewniczy
    szeregowanie zadań
    planowanie produkcji
    wyszukiwanie lokalne
    Opis:
    The paper presents a novel Iterated Local Search (ILS) algorithm to solve multi-item multi-family capacitated lot-sizing problem with setup costs independent of the family sequence. The model has a direct application to real production planning in foundry industry, where the goal is to create the batches of manufactured castings and the sequence of the melted metal loads to prevent delays in delivery of goods to clients. We extended existing models by introducing minimal utilization of furnace capacity during preparing melted alloy. We developed simple and fast ILS algorithm with problem-specific operators that are responsible for the local search procedure. The computational experiments on ten instances of the problem showed that the presence of minimum furnace utilization constraint has great impact on economic and technological conditions of castings production. For all test instances the proposed heuristic is able to provide the results that are comparable to state-of-the art commercial solver.
    Źródło:
    Archives of Foundry Engineering; 2017, 17, 4; 161-164
    1897-3310
    2299-2944
    Pojawia się w:
    Archives of Foundry Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Rozstrzygnięcia nadzorcze wojewodów w zakresie planowania przestrzennego
    Supervisory settlements made by governors within the scope of spatial planning
    Autorzy:
    Szlenk-Dziubek, Dorota
    Kotuła, Łukasz
    Powiązania:
    https://bibliotekanauki.pl/articles/447554.pdf
    Data publikacji:
    2010-06
    Wydawca:
    Instytut Rozwoju Miast
    Tematy:
    rozstrzygnięcia nadzorcze
    Internetowa Wyszukiwarka Rozstrzygnięć
    planowanie przestrzenne
    kategorie (grupy) problemowe
    supervisory settlements
    the Internet search engine for settlements
    spatial planning
    problem categories (groups)
    Opis:
    Niniejszy artykuł dotyczy prac nad przygotowaniem internetowego przeglądu rozstrzygnięć nadzorczych wojewodów, dotyczących planów miejscowych. Celem uruchomienia przeglądu jest zaprezentowanie i poszerzenie wiedzy o przyczynach zakwestionowania przez wojewodów procedur lub zapisów planów miejscowych lub ich części. Stwierdzono, że należy stworzyć możliwość wyszukiwania prezentowanych rozstrzygnięć zarówno według województw, jak i kilku najczęściej występujących grup problemów: procedura i dokumentacja oraz kompetencje organów, środowisko przyrodnicze (ochrona środowiska, ochrona przyrody), ochrona dóbr kultury, komunikacja, infrastruktura techniczna, mapy i grafika. Na stronie internetowej Instytutu Rozwoju Miast utworzona została Wyszukiwarka rozstrzygnięć (http://irm.krakow.pl/pl/wyszukiwarka_rozstrzygniec.html), gdzie zaprezentowano rozstrzygnięcia nadzorcze z województw: dolnośląskiego, kujawskopomorskiego, lubelskiego, łódzkiego, małopolskiego, mazowieckiego, opolskiego, podkarpackiego, podlaskiego, świętokrzyskiego oraz zachodniopomorskiego.
    This paper concerns works on the preparation of the Internet review of supervisory settlements made by governors in respect of local area development plans. The goal of the project is to present and extend knowledge on reasons of questioning by governors procedures or provisions of local area development plans, or parts thereof. The authors have found that it would be necessary to provide the possibility of searching for settlements included in the database both according to regions, and according to several groups of problems that appear most often, such as procedures and documentation and authorities' competence, natural environment (preservation of environment and nature), preservation of cultural heritage, transport, technical infrastructure, maps and graphics. The Internet page of the Institute of Urban Development has been provided with a special tool – a special search engine (http://irm.krakow.pl/pl/wyszukiwarka_rozstrzygniec.html), which shows supervisory settlements made by governors from the following regions: Dolnośląskie, Kujawsko-Pomorskie, Lubelskie, Łódzkie, Małopolskie, Mazowieckie, Opolskie, Podkarpackie, Podlaskie, Świętokrzyskie, and Zachodniopomorskie.
    Źródło:
    Problemy Rozwoju Miast; 2010, 2; 20-24
    1733-2435
    Pojawia się w:
    Problemy Rozwoju Miast
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-10 z 10

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