This paper addresses motion planning for a mobile robot moving on a rough terrain. We proposed in 14] a geometrical planner for a particular architecture of robot. The approach was based on a discrete search technique operating in the (x; y;) connguration space of the robot, and on the evaluation of elementary feasible paths between two conngurations. The… (More)
This paper deals with motion planning for a mobile robot on rough terrain. We proposed in 9] a geometrical planner for articulated robots which can take into account uncertainty on the terrain and on the position of the robot. This paper aims at improving the robustness of the trajectory using landmark based approach. We consider regions of the terrain… (More)
In this paper we describe a motion planner for a mobile robot on a natural terrain. This planner takes into account placement constraints of the robot on the terrain and landmark visibility. It is based on a two-step approach: during the rst step, a global graph of subgoals is generated in order to guide the robot through the landmark visibility regions;… (More)
Genetic algorithm is one of the main heuristics that have been applied to scheduling problems in the last few decades. This paper presents a generalization of the genetic algorithm for solving project scheduling problem under time uncertainties within resource leveling technique. The generalization consists of handling fuzzy time parameter and fuzzy… (More)
This paper deals with energy and human resource constraints in scheduling models. It outlines the influence of these resources, and the necessity to account for them in scheduling models. A parallel view of these resources is presented, and their characteristics are illustrated in the case study of a tubing plant.