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ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently with a single command, any motion involving steps is cumbersome-walking a few(More)
The resource-constrained project scheduling problem with time windows (RCPSP/max) is an important generalization of a number of well studied scheduling problems. In this paper, we present a new heuristic algorithm that combines the benefits of squeaky wheel optimization with an effective conflict resolution mechanism, called bulldozing, to address RCPSP/max(More)
Considerable progress has been made over the last 15 years on building adaptive control systems to assist pilots in flying damaged aircraft. Once a pilot has regained control of a damaged aircraft, the next problem is to determine the best site for an emergency landing. In general, the decision depends on many factors including the actual control envelope(More)
In previous work, we described an Emergency Landing Planner (ELP) designed to assist pilots in choosing the best emergency landing site when damage or failures occur in an aircraft. In this paper, we briefly describe the system, but focus on the integration of this system into the cockpit of a 6 DOF full-motion simulator and a study designed to evaluate the(More)
SimYard is a stochastic shipyard simulation tool designed to evaluate the labor costs of executing different schedules in a shipyard production environment. SimYard simulates common production problems such as task delays and labor shortages. A simulated floor manager reacts to problems as they arise. Repeatedly simulating multiple schedules allows the user(More)
This paper describes an approach to the problem of optimal motion planning with uncertain dynamics. This problem can occur whenever a vehicle suffers damage or when the environment makes the effect of motion actions unpredictable and potentially risky. We address in particular the case of aircraft with structural and/or control surface damage. The goal in(More)
We describe an Emergency Landing Planner (ELP) designed to assist pilots in choosing the best emergency landing site when damage occurs to an aircraft. In 2010, we integrated the ELP into the cockpit of a 6 DOF full-motion simulator for transport category aircraft, and performed experiments to evaluate the software using crews of professional airline(More)
A principal obstacle to fielding automated planning systems is the difficulty of modeling. Physical systems are modeled conventionally based on specification documents and the modeler's understanding of the system. Thus, the model is developed in a way that is disconnected from the system's actual behavior and is vulnerable to manual error. Another obstacle(More)
Mission planning is central to space mission operations and has benefited from advances in model-based planning software, but developing a planning model still remains a difficult task. Mission planning constraints arise from many sources, including simulators and engineering specification documents. Ensuring that these constraints are correctly represented(More)
SimYard is a stochastic shipyard simulation tool designed to evaluate the labor costs of executing different schedules in a shipyard production environment. SimYard simulates common production problems such as task delays and labor shortages. A simulated floor manager reacts to problems as they arise. Repeatedly simulating multiple schedules allows the user(More)