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Factored Cost-Optimal Planning Using Message Passing Algorithms

Jezequel L., Fabre E.

Fundamenta Informaticae

2015

Vol. 139, nr 4

369--401

This paper proposes an approach to solve cost-optimal factored planning problems. Planning consists in organizing actions in order to reach some predefined goal. In factored planning one considers several interacting planning problems and has to design an action plan for each of them. But one must also guarantee that all these local plans are compatible: actions shared among several problems must be jointly performed or jointly rejected. We enrich the problem with the extra requirement that the global plan computed in this modular manner must also minimize the sum of all action costs. A solution is provided to this problem, based on classical message passing algorithms, known as belief propagation in the setting of Bayesian networks. Here, messages carry complex information under the form of weighted (or (min; +)) automata, and all computations are performed with these objects. At the time our first paper on this topic was published, this method was the only one to solve cost-optimal factored planning problems in a modular way. Since then, new approaches were proposed. Experiments on classical benchmarks show that it is a valuable alternative to existing methods.

Improvement of handling by means of active suspension control

Ori T. R., Ichchou M. N., Gbaha P. P., Jezequel L.

Engineering Transactions

2007

Vol. 55, iss. 2

155-180

Brake systems have become increasingly complex. They must not only slow down or stop a vehicle under extreme conditions within short distances, but also reduce the effort exerted by the driver. This phenomenon is difficult to approach because it depends on the vehicle's architecture. This is why, in this paper, the first part will give the basis for modelling of the complete vehicle including the frame and the tires, in a 3D format. A 2D control law model will be synthesized to obtain the best performances for road behaviour. This control law is based on the theory of Linear Quadratic control (LQ). It is also extended to cover the 3D vehicle model. The last part gives the numerical simulation results which demonstrate the effectiveness of this law for vehicle performances.

Direct stiffness energy model for a one-dimensional complex system

Ichchou M. N., Jezequel L.

Engineering Transactions

2001

Vol.49, iss.4

485-510

This paper deals with the high frequency analysis of one-dimensional waveguides. In this frequency range, this paper proposes a numerical implementation and tests of an alternative to the classical predictive dynamical methods. The originality of this approach consists in the fact that it is solely an energy density description. A numerical scheme very similar to the well-known direct stiffness method is employed here. This leads to a numerical code capable of predicting the mean value energy density for complex beam-like structure up to high frequencies. A twenty-four components plane truss, including both the bending and extension motion is used as a verification test, and shows the ability of the proposed code to predict the high frequency dynamics of complex beam-like structures.