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Planning function is essential for increasing the autonomy of aerial systems. This paper presents some improvements dedicated to the management of degraded events in an existing control architecture. These events may start an online replanning. In a military observation mission context, a complex modeling and several efficient algorithms for planning are(More)
This paper describes a new planner, HiPOP (Hierarchical Partial-Order Planner), which is domain-configurable and uses POP techniques to create hierarchical time-flexible plans. HiPOP takes as inputs a description of a domain, a problem, and some optional user-defined search-control knowledge. This additional knowledge takes the form of a set of abstract(More)
This article presents the integration of on-line mission planning and flight scheduling for an unmanned aerial vehicle in military observation missions. Planning selects and orders the best subset of observations to be carried out and schedules the observations while accommodating time windows. The vehicle is subjected to speed, fuel supply and flight(More)
BACKGROUND PKH67 labelling was compared for classical proliferation assessment (using S phase evaluation) to analyse the cell proliferation of 29 AML patients treated or not with various drugs. Among these drugs, the effect of tetrapeptide AcSDKP or AcSDKP-NH2 on AML cells, stimulated or not by cytokines, was also evaluated in order to determine (i) if(More)
— In this work we propose a plan repair algorithm designed to be used in a real-life setting for a team of autonomous robots. This algorithm is built on top of a hybrid planner. This planner mixes partial order planning and hierarchical planning. This allows the creation of a plan with temporal flexibility while using human knowledge to improve the search(More)
This paper focuses on ongoing work in the " Action " project related to the decisional processes that are required to allow teams of cooperating heterogeneous vehicles to achieve target local-ization and tracking missions. Autonomy is made possible thanks to embedded functions such as data fusion, planning and supervision, organized within each vehicle so(More)
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