By Benedetta Craveri
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Additional info for Amanti e regine. Il potere delle donne
These dimensions are periodically changed to ensure a diﬀusion along all dimensions of the conﬁguration space, and at each cycle a new array is constructed to reﬂect the new dimensions . The re-construction rate of A was ﬁxed for all simulations as diﬀerent rates did not noticeably aﬀect the overall performance of the algorithm. The two dimensions depicted in A are selected at random and changed after the generation of every 10 child nodes to ensure a maximum diﬀusion rate on the even the smallest roadmaps.
If the length of the edge connecting nc and nt is below the δ, the local planner checks the edges of the connecting path (highlighted by the dotted line in the example shown in Figure 1(b)). The edges of this path are checked sequentially from nr to nt . If an obstacle is found, as in Figure 1(c), the entire branch following the colliding edge is removed from the roadmap and the collision-free portion of the path is saved. In this example, the ﬁrst partial solution path is υ1 . When the number of generated child nodes reaches the maximum graph size N of the uni-directional portion of the ST planner, the closest collision-free portion of the failed attempts at connecting the root node to the target node is inserted in the ﬁnal solution path (based on (1)).
Ai m ), ai ∈ A, i = 1 . . n, n ≤ m where m represents the action selected by the ith agent, would the agent select the mth computed approaching point to pursue the target. Set A is the complete set of actions available to all agents, n represents the total number of robotic agents and m is total number of calculated approaching points (n ≤ m), respectively. As shown in Fig. e. robot’s gain) as per diﬀerent calculated target’s approaching points (TAP ). Once calculated, every robot communicates its corresponding ordered action proﬁle with the mediation unit.
Amanti e regine. Il potere delle donne by Benedetta Craveri