Browsing by Keyword "Planning"
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Item A cognitive robotic ecology approach to self-configuring and evolving AAL systems(2015-10-01) Dragone, Mauro; Amato, Giuseppe; Bacciu, Davide; Chessa, Stefano; Coleman, Sonya; Di Rocco, Maurizio; Gallicchio, Claudio; Gennaro, Claudio; Lozano, Hector; Maguire, Liam; McGinnity, Martin; Micheli, Alessio; O׳Hare, Gregory M.P.; Renteria, Arantxa; Saffiotti, Alessandro; Vairo, Claudio; Vance, P.; O'Hare, Gregory M.P.; Medical Technologies; Robótica MédicaRobotic ecologies are systems made out of several robotic devices, including mobile robots, wireless sensors and effectors embedded in everyday environments, where they cooperate to achieve complex tasks. This paper demonstrates how endowing robotic ecologies with information processing algorithms such as perception, learning, planning, and novelty detection can make these systems able to deliver modular, flexible, manageable and dependable Ambient Assisted Living (AAL) solutions. Specifically, we show how the integrated and self-organising cognitive solutions implemented within the EU project RUBICON (Robotic UBIquitous Cognitive Network) can reduce the need of costly pre-programming and maintenance of robotic ecologies. We illustrate how these solutions can be harnessed to (i) deliver a range of assistive services by coordinating the sensing & acting capabilities of heterogeneous devices, (ii) adapt and tune the overall behaviour of the ecology to the preferences and behaviour of its inhabitants, and also (iii) deal with novel events, due to the occurrence of new user's activities and changing user's habits.Item Lessons Learned from Applying Adaptation Pathways in Heatwave Risk Management in Antwerp and Key Challenges for Further Development(2021-10-18) Mendizabal, Maddalen; Peña, Nieves; Hooyberghs, Hans; Lambrechts, Griet; Sepúlveda, Joel; Zorita, Saioa; Tecnalia Research & Innovation; ADAPTACIÓN AL CAMBIO CLIMÁTICOHeat exposure is a well-known health hazard, which causes several problems ranging from thermal discomfort or productivity reduction to the aggravation of existing illnesses and death. Climate projections foresee an increase in the frequency and intensity of heat-related impacts on human health. To reduce these climate risks, governments need a better understanding of not only the scale and the factors affecting those risks, but also how to prepare and protect the city and citizens against these risks and prevent them through effective policy making. Therefore, climate adaptation decisions need to be made in complex systems with manifold uncertainties. In response to these deep uncertainties, different planning approaches have been developed to assist policymakers in decision making. This paper is focused on one of the dynamic adaptive policy planning approaches: the adaptation pathway. This approach allows designing alternative feasible plans that are flexible and can respond when new information appears or when conditions in the environment change. This paper presents a structured methodology for designing adaptation pathways. The work describes a high-level adaptation pathway covering heatwave impacts on productivity and health at city level in Antwerp to ensure the city adapts to future conditions. Lastly, a summary is provided of the lessons learned and the challenges of this approach are discussed.Item A Linear Model Predictive Planning Approach for Overtaking Manoeuvres Under Possible Collision Circumstances(IEEE, 2018-10-18) Lattarulo, Ray; He, Daniel; Perez, Joshue; Heß, Daniel; CCAMOvertaking is one of the most difficult tasks during driving. This manoeuvre demands good skills to accomplish it correctly. In the overtaking considering multiple vehicles (more than a couple) is necessary to understand, predict and coordinate future actions of the other participants. These reasons make it a significant scenario for testing in the connected and automated driving field, with the main goal of predicting safe future states. In this sense, this work presents an overtaking method based on a linear Model Predictive Control (MPC) approach, which considers multiple participants involved in the scenario. This method adapts dynamically the trajectory for the manoeuvre in case of unexpected situations. Some of these changes consider other vehicles coming on the opposite lane or variations on participants' driving decisions. Additionally, the system considers passengers' comfort, the vehicle physical constraints and lateral actions of the vehicle decoupled of the longitudinal ones to simplify the problem.Item Real-Time Trajectory Planning Method Based On N-Order Curve Optimization(Institute of Electrical and Electronics Engineers Inc., 2020-10-08) Lattarulo, Ray; Gonzalez, Leonardo; Perez, Joshue; Barbulescu, Lucian-Florentin; CCAMIn recent years, many functionalities were developed for Automated Vehicles (AVs) and some of them with close-to-market prototypes. A required topic is the generation of continuous trajectories that reduces the amount of discrete and pre-coded instructions while leading the vehicle safely. Consequently, this work presents a novel real-time trajectory planning approach based on numerical optimization of n-order Bézier curves and lane-based information. The generation of a feasible trajectory considers the vehicle dimension while driving into a lane-corridor. The nonlinear optimization problem was solved with the Bound Optimization BY Quadratic Approximation method (BOBYQA), and it uses the passengers' comfort, safety, and vehicle dynamics as constraints of the problem. The solution is validated in a simulation environment using a bus with a length of 12 meters. Moreover, the validation considered the roundabouts due to its complexity, nevertheless, the solution is scalable to other scenarios.