This paper deals with a general variant of the reverse undesirable(obnoxious)center location problem on cycle graphs.Given a‘selective’subset of the vertices of the underlying cycle graph as location of the existin...This paper deals with a general variant of the reverse undesirable(obnoxious)center location problem on cycle graphs.Given a‘selective’subset of the vertices of the underlying cycle graph as location of the existing customers,the task is to modify the edge lengths within a given budget such that the minimum of distances between a predetermined undesirable facility location and the customer points is maximized under the perturbed edge lengths.We develop a combinatorial O(n log n)algorithm for the problem with continuous modifications.For the uniform-cost model,we solve this problem in linear time by an improved algorithm.Furthermore,exact solution methods are proposed for the problem with integer modifications.展开更多
To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algorith...To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algorithm based on greedy growth strategy in 3D space is proposed.The workspace of manipulator established based on Monte Carlo method is used as the sampling space of the rapidly-exploring random tree,and the opposite expanding greedy growth strategy is added in the random tree expansion process to improve the path planning efficiency.Then the generated path is reversely optimized to shorten the length of the planned path,and the optimized path is interpolated and pose searched in Cartesian space to form a collision-free optimized path suitable for humanoid manipulator motion.Finally,the validity and reliability of the algorithm are verified in an intelligent elderly care service scenario based on Walker2,a large humanoid service robot.展开更多
基金the Sahand University of Technology under the Ph.D.program contract(No.30/15971).
文摘This paper deals with a general variant of the reverse undesirable(obnoxious)center location problem on cycle graphs.Given a‘selective’subset of the vertices of the underlying cycle graph as location of the existing customers,the task is to modify the edge lengths within a given budget such that the minimum of distances between a predetermined undesirable facility location and the customer points is maximized under the perturbed edge lengths.We develop a combinatorial O(n log n)algorithm for the problem with continuous modifications.For the uniform-cost model,we solve this problem in linear time by an improved algorithm.Furthermore,exact solution methods are proposed for the problem with integer modifications.
基金The Key-Area Research and Development Program of Guangdong Province,China(No.2019B010154003)。
文摘To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algorithm based on greedy growth strategy in 3D space is proposed.The workspace of manipulator established based on Monte Carlo method is used as the sampling space of the rapidly-exploring random tree,and the opposite expanding greedy growth strategy is added in the random tree expansion process to improve the path planning efficiency.Then the generated path is reversely optimized to shorten the length of the planned path,and the optimized path is interpolated and pose searched in Cartesian space to form a collision-free optimized path suitable for humanoid manipulator motion.Finally,the validity and reliability of the algorithm are verified in an intelligent elderly care service scenario based on Walker2,a large humanoid service robot.
