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When controlling the movement of an anthropomorphic robot arm mechanism in an organized space with forbidden regions, there is a possibility of deadlocks. The paper studies the motion synthesis using weight coefficients of generalized velocities in order to prevent deadlocks. As a result an algorithm for the motion synthesis using weight coefficients in the virtual simulation of the anthropomorphic robot arm movements is developed.

People must integrate disparate sources of information when making decisions, especially in social contexts. But information does not always flow freely. It can be constrained by social networks 1 – 3 and distorted by zealots and automated bots 4 . Here we develop a voter game as a model system to study information flow in collective decisions. Players are assigned to competing groups (parties) and placed on an ‘influence network’ that determines whose voting intentions each player can observe. Players are incentivized to vote according to partisan interest, but also to coordinate their vote with the entire group. Our mathematical analysis uncovers a phenomenon that we call information gerrymandering: the structure of the influence network can sway the vote outcome towards one party, even when both parties have equal sizes and each player has the same influence. A small number of zealots, when strategically placed on the influence network, can also induce information gerrymandering and thereby bias vote outcomes. We confirm the predicted effects of information gerrymandering in social network experiments with n  = 2,520 human subjects. Furthermore, we identify extensive information gerrymandering in real-world influence networks, including online political discussions leading up to the US federal elections, and in historical patterns of bill co-sponsorship in the US Congress and European legislatures. Our analysis provides an account of the vulnerabilities of collective decision-making to systematic distortion by restricted information flow. Our analysis also highlights a group-level social dilemma: information gerrymandering can enable one party to sway decisions in its favour, but when multiple parties engage in gerrymandering the group loses its ability to reach consensus and remains trapped in deadlock. In a voter game, information gerrymandering can sway the outcome of the vote towards one party, even when both parties have equal sizes and each player has the same influence; and this effect can be exaggerated by strategically placed zealots or automated bots.

To solve the problems of local optimum, slow convergence speed and low search efficiency in ant colony algorithm, an improved ant colony optimization algorithm is proposed. The unequal allocation initial pheromone is constructed to avoid the blindness search at early planning. A pseudo-random state transition rule is used to select path, the state transition probability is calculated according to the current optimal solution and the number of iterations, and the proportion of determined or random selections is adjusted adaptively. The optimal solution and the worst solution are introduced to improve the global pheromone updating method. Dynamic punishment method is introduced to solve the problem of deadlock. Compared with other ant colony algorithms in different robot mobile simulation environments, the results showed that the global optimal search ability and the convergence speed have been improved greatly and the number of lost ants is less than one-third of others. It is verified the effectiveness and superiority of the improved ant colony algorithm.

Considerable amounts of data, including process events, are collected and stored by organisations nowadays. Discovering a process model from such event data and verification of the quality of discovered models are important steps in process mining. Many discovery techniques have been proposed, but none of them combines scalability with strong quality guarantees. We would like such techniques to handle billions of events or thousands of activities, to produce sound models (without deadlocks and other anomalies), and to guarantee that the underlying process can be rediscovered when sufficient information is available. In this paper, we introduce a framework for process discovery that ensures these properties while passing over the log only once and introduce three algorithms using the framework. To measure the quality of discovered models for such large logs, we introduce a model–model and model–log comparison framework that applies a divide-and-conquer strategy to measure recall, fitness, and precision. We experimentally show that these discovery and measuring techniques sacrifice little compared to other algorithms, while gaining the ability to cope with event logs of 100,000,000 traces and processes of 10,000 activities on a standard computer.

In this paper a divide-and-conquer-method for the synthesis of liveness enforcing supervisors (LES) for flexible manufacturing systems (FMS) is proposed. Given the Petri net model (PNM) of an FMS prone to deadlocks, it aims to synthesize a live controlled Petri net system. For complex systems, the use of reachability graph (RG) based deadlock prevention methods is a challenging problem, as the RG of a PNM easily becomes unmanageable. To obtain the LESs from a large PNM is usually intractable. In this paper, to ease this problem the PNM of a system is divided into small connected subnets. Each connected subnet prone to deadlocks is then used to compute the LES for the original PNM. Starting from the simplest subnet prone to deadlocks to make the subnet live, monitors (control places) are computed. The RG of each subnet is considered and split into a dead-zone (DZ) and a live-zone. All states in the DZ are prevented from being reached by means of a well-established invariant-based control method. Next, the computation of monitors is followed for bigger subnets. Previously computed monitors are included within the bigger subnets based on a criterion. This process keeps the DZ of the bigger subnets smaller compared with the original uncontrolled subnets. When all subnets are live we obtain a set of monitors that are included within the PNM to obtain a partially controlled PNM (pCPNM). A new set of monitors is also computed for the pCPNM. Finally, a live controlled Petri net system is obtained. The proposed method is generally applicable, easy to use, effective and straightforward although its off-line computation is of exponential complexity in theory. Its use for FMS control guarantees deadlock-free operation and high performance in terms of resource utilization and system throughput. Two FMS deadlock problems from the literature are used to illustrate the applicability and the effectiveness of the proposed method.

In the near future mobile robots, such as personal robots or mobile manipulators, will share the workspace with other robots and humans. We present a method for mission and motion planning that applies to small teams of robots performing a task in an environment with moving obstacles, such as humans. Given a mission specification written in linear temporal logic, such as patrolling a set of rooms, we synthesize an automaton from which the robots can extract valid strategies. This centralized automaton is executed by the robots in the team at runtime, and in conjunction with a distributed motion planner that guarantees avoidance of moving obstacles. Our contribution is a correct-by-construction synthesis approach to multi-robot mission planning that guarantees collision avoidance with respect to moving obstacles, guarantees satisfaction of the mission specification and resolves encountered deadlocks, where a moving obstacle blocks the robot temporally. Our method provides conditions under which deadlock will be avoided by identifying environment behaviors that, when encountered at runtime, may prevent the robot team from achieving its goals. In particular, (1) it identifies deadlock conditions; (2) it is able to check whether they can be resolved; and (3) the robots implement the deadlock resolution policy locally in a distributed manner. The approach is capable of synthesizing and executing plans even with a high density of dynamic obstacles. In contrast to many existing approaches to mission and motion planning, it is scalable with the number of moving obstacles. We demonstrate the approach in physical experiments with walking humanoids moving in 2D environments and in simulation with aerial vehicles (quadrotors) navigating in 2D and 3D environments.

For the shortcomings of biologically inspired neural network algorithm in the path planning of robots, such as high computational complexity, long path planning time etc Glasius Bio-inspired Neural Network (GBNN) algorithm is proposed to improve the algorithm, and applied to the complete coverage path planning of autonomous underwater vehicle (AUV). Firstly, the grid map is constructed by discretizing the two-dimensional underwater environment. Secondly, the corresponding dynamic neural network is built on the grid map. Finally, complete coverage path of AUV is planned based on the GBNN strategy and the path of AUV at the edge of obstacles is optimized by some typical path templates. The simulation results show that the AUV can completely cover the entire workspace and immediately escape from deadlocks without any waiting. Meanwhile, the efficiency of complete coverage path planning is high with short path planning time and low overlapping coverage rate by using the algorithm proposed in this paper.

Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling process. This work presents a distributed multi-robot patrolling technique, which uses a two-level coordination strategy to minimize and explicitly manage the occurrence of conflicts and interference. The first level guides the agents to single out exclusive target nodes on a topological map. This target selection relies on a shared idleness representation and a coordination mechanism preventing topological conflicts. The second level hosts coordination strategies based on a metric representation of space and is supported by a 3D SLAM system. Here, each robot path planner negotiates spatial conflicts by applying a multi-robot traversability function. Continuous interactions between these two levels ensure coordination and conflicts resolution. Both simulations and real-world experiments are presented to validate the performances of the proposed patrolling strategy in 3D environments. Results show this is a promising solution for managing spatial conflicts and preventing deadlocks.

To further improve the path planning of the mobile robot in complex dynamic environments, this paper proposes an enhanced hybrid algorithm by considering the excellent search capability of the ant colony optimization (ACO) for global paths and the advantages of the dynamic window approach (DWA) for local obstacle avoidance. Firstly, we establish a new dynamic environment model based on the motion characteristics of the obstacles. Secondly, we improve the traditional ACO from the pheromone update and heuristic function and then design a strategy to solve the deadlock problem. Considering the actual path requirements of the robot, a new path smoothing method is present. Finally, the robot modeled by DWA obtains navigation information from the global path, and we enhance its trajectory tracking capability and dynamic obstacle avoidance capability by improving the evaluation function. The simulation and experimental results show that our algorithm improves the robot’s navigation capability, search capability, and dynamic obstacle avoidance capability in unknown and complex dynamic environments.

With the development of computer technology, computer industry needs more and more talents. Therefore, colleges and universities design computer majors to train talents for the computer industry. Integrating computer technology into the teaching of computer majors can break the traditional education deadlock. It brings innovation and entrepreneurship teaching mode to computer professional education.