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This paper presents the principle of a perception system meant for delivering alarms when dreaded activities are suspected. It includes a Symbolic Layer (SL) that deals with activities recognition and alarm decision, and a Resource Management System (RML) that, upon request, provides SL with information. The domain to be watched over includes several areas(More)
Presents an algorithm for planning a collision-free path for a mobile robot in a planar workspace. The free space is structured by covering it with overlapping convex cells. In a first step, the algorithm searches for an itinerary which is the union of a set of cells and a trajectory skeleton inside it. Then, a more realistic trajectory, dealing with(More)
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