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At least 685 records · Page 38
All sourcesNASA NTRSDOE OSTI
DOE OSTI2015

SU-E-T-505: Inter-Comparison of Clinical Plans Created On Truebeam with Trilogy and Clinac

Purpose The purpose of this study is to investigate the dosimetric differences in clinical treatment plans when machine parameters are switched from Varian Truebeam to older Varian models and vice-versa. This is used to determine the clinically-safe limits to directly transfer patients from Truebeam to Trilogy or Clinac. Methods Thirty-two patients with cancer of different treatment sites such as lung, head-and-neck, prostate and breast were studied. The clinically approved IMRT, VMAT or 3D conformal treatment plans were delivered either on Truebeam or Clinac/Trilogy. Keeping the monitor units, fraction size and other machine parameters the same, the plans were recomputed on a different Varian linear accelerator (e.g., Truebeam plans were recomputed on Trilogy and vice-versa). The plans comparison was done using the target D98 and normal organ D2, D10, D20, D30, D50 and D70 dose metrics. Results The perfraction dose-difference in the PTV-D98 for all 32 patients varied from 0.01 to −0.06 Gy with median being −0.04 Gy. For a 2Gy/fraction treatment course, this would be maximum PTV-D98 dose-difference of 6 cGy/fraction or 30 cGy/5fractions. For organs-at-risks the maximum per-fraction dosedifference in D2, D5, D10, D20, D30, D50 and D70 between Truebeam and Trilogy/Clinac plans varied from 0.06 to −0.07 Gy with median being with — 0.02 Gy. The 3D-CRT plans had relatively lower dose-difference in comparison to IMRT and VMAT plans. The dose computed on Truebeam was systematically lower than the dose computed on Trilogy/ Clinac. Conclusions for conventional fractionation schedules, assuming the maximum uncertainty of <2%, it is clinically safe to switch the treatment machine for 5 fractions. For hypo-fractionated treatments with higher dose per-fraction, plans may need to be revisited before switching the linear accelerator from Truebeam to Clinac/Trilogy or vice-versa.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2015

SU-E-T-614: Plan Averaging for Multi-Criteria Navigation of Step-And-Shoot IMRT

Purpose: Step-and-shoot IMRT is fundamentally discrete in nature, while multi-criteria optimization (MCO) is fundamentally continuous: the MCO planning consists of continuous sliding across the Pareto surface (the set of plans which represent the tradeoffs between organ-at-risk doses and target doses). In order to achieve close to real-time dose display during this sliding, it is desired that averaged plans share many of the same apertures as the pre-computed plans, since dose computation for apertures generated on-the-fly would be expensive. We propose a method to ensure that neighboring plans on a Pareto surface share many apertures. Methods: Our baseline step-and-shoot sequencing method is that of K. Engel (a method which minimizes the number of segments while guaranteeing the minimum number of monitor units), which we customize to sequence a set of Pareto optimal plans simultaneously. We also add an error tolerance to study the relationship between the number of shared apertures, the total number of apertures needed, and the quality of the fluence map re-creation. Results: We run tests for a 2D Pareto surface trading off rectum and bladder dose versus target coverage for a clinical prostate case. We find that if we enforce exact fluence map recreation, we are not able to achieve much sharing of apertures across plans. The total number of apertures for all seven beams and 4 plans without sharing is 217. With sharing and a 2% error tolerance, this number is reduced to 158 (73%). Conclusion: With the proposed method, total number of apertures can be decreased by 42% (averaging) with no increment of total MU, when an error tolerance of 5% is allowed. With this large amount of sharing, dose computations for averaged plans which occur during Pareto navigation will be much faster, leading to a real-time what-you-see-is-what-you-get Pareto navigation experience. Minghao Guo and Hao Gao were partially supported by the NSFC (#11405105), the 973 Program (#2015CB856000) and the Shanghai Pujiang Talent Program (#14PJ1404500)

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2015

SU-E-T-622: Planning Technique for Passively-Scattered Involved-Node Proton Therapy of Mediastinal Lymphoma with Consideration of Cardiac Motion

Purpose: To develop a treatment planning method for passively-scattered involved-node proton therapy of mediastinal lymphoma robust to breathing and cardiac motions. Methods: Beam-specific planning treatment volumes (bsPTV) are calculated for each proton field to incorporate pertinent uncertainties. Geometric margins are added laterally to each beam while margins for range uncertainty due to setup errors, breathing, and calibration curve uncertainties are added along each beam. The calculation of breathing motion and deformation effects on proton range includes all 4DCT phases. The anisotropic water equivalent margins are translated to distances on average 4DCT. Treatment plans are designed so each beam adequately covers the corresponding bsPTV. For targets close to the heart, cardiac motion effects on dosemaps are estimated by using a library of anonymous ECG-gated cardiac CTs (cCT). The cCT, originally contrast-enhanced, are partially overridden to allow meaningful proton dose calculations. Targets similar to the treatment targets are drawn on one or more cCT sets matching the anatomy of the patient. Plans based on the average cCT are calculated on individual phases, then deformed to the average and accumulated. When clinically significant dose discrepancies occur between planned and accumulated doses, the patient plan is modified to reduce the cardiac motion effects. Results: We found that bsPTVs as planning targets create dose distributions similar to the conventional proton planning distributions, while they are a valuable tool for visualization of the uncertainties. For large targets with variability in motion and depth, integral dose was reduced because of the anisotropic margins. In most cases, heart motion has a clinically insignificant effect on target coverage. Conclusion: A treatment planning method was developed and used for proton therapy of mediastinal lymphoma. The technique incorporates bsPTVs compensating for all common sources of uncertainties and estimation of the effects of cardiac motion not commonly performed.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2015

SU-E-T-628: Predicted Risk of Post-Irradiation Cerebral Necrosis in Pediatric Brain Cancer Patients: A Treatment Planning Comparison of Proton Vs. Photon Therapy

Purpose: Post-irradiation cerebral necrosis (PICN) is a severe late effect that can Result from brain cancers treatment using radiation therapy. The purpose of this study was to compare the treatment plans and predicted risk of PICN after volumetric modulated arc therapy (VMAT) to the risk after passively scattered proton therapy (PSPT) and intensity modulated proton therapy (IMPT) in a cohort of pediatric patients. Methods: Thirteen pediatric patients with varying age and sex were selected for this study. A clinical treatment volume (CTV) was constructed for 8 glioma patients and 5 ependymoma patients. Prescribed dose was 54 Gy over 30 fractions to the planning volume. Dosimetric endpoints were compared between VMAT and proton plans. The normal tissue complication probability (NTCP) following VMAT and proton therapy planning was also calculated using PICN as the biological endpoint. Sensitivity tests were performed to determine if predicted risk of PICN was sensitive to positional errors, proton range errors and selection of risk models. Results: Both PSPT and IMPT plans resulted in a significant increase in the maximum dose and reduction in the total brain volume irradiated to low doses compared with the VMAT plans. The average ratios of NTCP between PSPT and VMAT were 0.56 and 0.38 for glioma and ependymoma patients respectively and the average ratios of NTCP between IMPT and VMAT were 0.67 and 0.68 for glioma and ependymoma plans respectively. Sensitivity test revealed that predicted ratios of risk were insensitive to range and positional errors but varied with risk model selection. Conclusion: Both PSPT and IMPT plans resulted in a decrease in the predictive risk of necrosis for the pediatric plans studied in this work. Sensitivity analysis upheld the qualitative findings of the risk models used in this study, however more accurate models that take into account dose and volume are needed.

61 RADIATION PROTECTION AND DOSIMETRY↗
DOE OSTI2015

A treatment planning study to assess the feasibility of laser-driven proton therapy using a compact gantry design

Purpose: Laser-driven proton acceleration is suggested as a cost- and space-efficient alternative for future radiation therapy centers, although the properties of these beams are fairly different compared to conventionally accelerated proton beams. The laser-driven proton beam is extremely pulsed containing a very high proton number within ultrashort bunches at low bunch repetition rates of few Hz and the energy spectrum of the protons per bunch is very broad. Moreover, these laser accelerated bunches are subject to shot-to-shot fluctuations. Therefore, the aim of this study was to investigate the feasibility of a compact gantry design for laser-driven proton therapy and to determine limitations to comply with. Methods: Based on a published gantry beam line design which can filter parabolic spectra from an exponentially decaying broad initial spectrum, a treatment planning study was performed on real patient data sets. All potential parabolic spectra were fed into a treatment planning system and numerous spot scanning proton plans were calculated. To investigate limitations in the fluence per bunch, the proton number of the initial spectrum and the beam width at patient entrance were varied. A scenario where only integer shots are delivered as well as an intensity modulation from shot to shot was studied. The resulting plans were evaluated depending on their dosimetric quality and in terms of required treatment time. In addition, the influence of random shot-to-shot fluctuations on the plan quality was analyzed. Results: The study showed that clinically relevant dose distributions can be produced with the system under investigation even with integer shots. For small target volumes receiving high doses per fraction, the initial proton number per bunch must remain between 1.4 × 10{sup 8} and 8.3 × 10{sup 9} to achieve acceptable delivery times as well as plan qualities. For larger target volumes and standard doses per fraction, the initial proton number is even more restricted to stay between 1.4 × 10{sup 9} and 2.9 × 10{sup 9}. The lowest delivery time that could be reached for such a case was 16 min for a 10 Hz system. When modulating the intensity from shot to shot, the delivery time can be reduced to 6 min for this scenario. Since the shot-to-shot fluctuations are of random nature, a compensation effect can be observed, especially for higher laser shot numbers. Therefore, a fluctuation of ±30% within the proton number does not translate into a dosimetric deviation of the same size. However, for plans with short delivery times these fluctuations cannot cancel out sufficiently, even for ±10% fluctuations. Conclusions: Under the analyzed terms, it is feasible to achieve clinically relevant dose distributions with laser-driven proton beams. However, to keep the delivery times of the proton plans comparable to conventional proton plans for typical target volumes, a device is required which can modulate the bunch intensity from shot to shot. From the laser acceleration point of view, the proton number per bunch must be kept under control as well as the reproducibility of the bunches.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2016

SU-F-J-64: Comparison of Dosimetric Robustness Between Proton Therapy and IMRT Plans Following Tumor Regression for Locally Advanced Non-Small Cell Lung Cancer (NSCLC)

Purpose: In the light of tumor regression and normal tissue changes, dose distributions can deviate undesirably from what was planned. As a consequence, replanning is sometimes necessary during treatment to ensure continued tumor coverage or to avoid overdosing organs at risk (OARs). Proton plans are generally thought to be less robust than photon plans because of the proton beam’s higher sensitivity to changes in tissue composition, suggesting also a higher likely replanning rate due to tumor regression. The purpose of this study is to compare dosimetric deviations between forward-calculated double scattering (DS) proton plans with IMRT plans upon tumor regression, and assesses their impact on clinical replanning decisions. Methods: Ten consecutive locally advanced NSCLC patients whose tumors shrank > 50% in volume and who received four or more CT scans during radiotherapy were analyzed. All the patients received proton radiotherapy (6660 cGy, 180 cGy/fx). Dosimetric robustness during therapy was characterized by changes in the planning objective metrics as well as by point-by-point root-mean-squared differences for the entire PTV, ITV, and OARs (heart, cord, esophagus, brachial plexus and lungs) DVHs. Results: Sixty-four pairs of DVHs were reviewed by three clinicians, who requested a replanning rate of 16.7% and 18.6% for DS and IMRT plans, respectively, with a high agreement between providers. Robustness of clinical indicators was found to depend on the beam orientation and dose level on the DVH curve. Proton dose increased most in OARs distal to the PTV along the beam path, but these changes were primarily in the mid to low dose levels. In contrast, the variation in IMRT plans occurred primarily in the high dose region. Conclusion: Robustness of clinical indicators depends where on the DVH curves comparisons are made. Similar replanning rates were observed for DS and IMRT plans upon large tumor regression.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2016

SU-F-J-162: Is Bulky Electron Density Assignment Appropriatefor MRI-Only Based Treatment Planning for Lung Cancer?

Purpose: To assess the appropriateness of bulky electron density assisment for MRI-only treatment planning for lung cancer via comparing dosimetric difference between MRI- and CT-based plans. Methods: Planning 4DCTs acquired for six representative lung cancer patients were used to generate CT-based IMRT plans. To avoid the effect of anatomic difference between CT and MRI, MRI-based plans were generated using CTs by forcing the relative electron density (rED) of organ specific values from ICRU report 46 and using the mean rED value of the internal target volume (ITV) of the patient for the ITV. Both CT and “MRI” plans were generated using a research planning system (Monaco, Elekta) employing Monte Carlo dose calculation the following dose-volume-parameters (DVPs): D99 – dose delivered to 99% of the ITV/PTV volume; D95; D5; D1; Vpd –volume receiving the prescription dose; V5 – volume of normal lung irradiated > 5 Gy; and V20. The percent point difference and dose difference was used for comparison for Vpd-V5-V20 and D99-D1, respectively. Four additional plans per patient were calculated with rEDITV = 0.6 and 1.0 and rEDlung = 0.1 and 0.5. Results: Noticeable differences in the ITV and PTV point doses and DVPs were observed. Variations in Vpd ranged from 0.0–6.4% and 0.32–18.3% for the ITV and PTV, respectively. The ITV and PTV variations in D99, D95, D5 and D1 were 0.15–3.2 Gy. The normal lung V5 & V20 variations were no larger than 1.9%. In some instances, varying the rEDITV between rEDmean, 0.6 and 1.0 resulted in D95 increases ranging from 3.9–6.3%. Uniform rED assignment on normal lung affected DVPs of ITV and PTV by 4.0–9.8% and 0.3–19.6%, respectively. Conclusion: The commonly-used uniform rED assignment in MRI-only based planning may not be appropriate for lung-cancer. A voxel based method, e.g. synthetic CT generated from MRI data, is required. This work was partially funded by Elekta, Inc.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2023

Performance Assessment Maintenance Plan for the Active Low-Level Burial Ground Trenches 31, 34, and 94 at the Hanford Site

This report documents the maintenance plan for the Hanford Site 200 West Area Active Low-Level Burial Ground Trenches 31 and 34 and 200 East Area Active Trench 94 performance assessment (PA). The PA maintenance plan is one of several supporting documents that are compendiums to the active trenches (Trenches 31, 34, and 94) PA as required in DOE O 435.1, Radioactive Waste Management . The PA is documented in DOE/RL-2021-26, Performance Assessment of Active Trenches in 200 East and West Low-Level Burial Grounds at the Hanford Site . This plan follows the requirements and outline specified in the applicable U.S. Department of Energy (DOE) standard used for developing documents supporting DOE-STD-5002-2017, Disposal Authorization Statement and Tank Closure Documentation . This maintenance plan summarizes the following major activities DOE plans to conduct to maintain the Trenches 31, 34, and 94 PA: Monitoring; Research and development; Planned reviews and analyses; Revisions of Trenches 31, 34, and 94 PA. The planned research and development activities relate to evaluating the key assumptions, including evaluating conceptual model assumptions and parameter value assumptions used in the PA. The planned research and development activities include those that are designed to track the release mechanisms for Category 1, Category 3, and uranium billet waste sources, as well as continued characterization and related modeling of the natural environment in the Central Plateau of the Hanford Site. In addition, the planned research and development activities include focused testing and evaluation of engineered and natural materials to reduce the uncertainty in the conceptual models and parameter values used in the PA. All key and secondary issues identified during the review of the PA by the Low-Level Waste Disposal Facility Federal Review Group have been resolved prior to finalization of the PA. There are no outstanding issues.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2024

Planning for Material Control and Accountancy at Liquid Fueled Molten Salt Reactors

The purpose of this report is to provide molten salt reactor (MSR) developers and future US Nuclear Regulatory Commission (NRC) license applicants with recommendations for developing an effective and practical material control and accounting (MC&A) plan, focused primarily on MSR designs that use circulating liquid fuel. Because of the breadth of MSR designs, there is no single, generic, detailed MC&A plan that will work for every design. The wide variation of fresh fuel salts, the method and frequency of loading fresh fuel, the reactor system design components (e.g., tanks, filtration systems, chemical processing streams), and waste streams will determine the specific measurement locations and instrumentation that can best meet MC&A objectives throughout an MSR facility. Additionally, MSR designs are rapidly evolving, and new design features and deployment scenarios that will affect MC&A are being explored and pursued. This report defines a generic MC&A approach that was developed for terrestrial (as opposed to maritime) deployments to meet the intent of NRC domestic safeguards and MC&A. MSR license applicants should consider nuclear safeguards (both domestic and international) and security throughout the design, as early as the preconceptual design phase. MC&A of special nuclear material (SNM) is an aspect of the NRC’s domestic safeguards program, alongside physical protection. Because liquid-fueled MSRs are reactors with SNM in nondiscrete (or item) form, it is likely that the NRC may require liquid-fueled MSR license applicants to submit a formal MC&A plan as a part of their license application. Currently, the NRC licensing protocol presents a challenge because the NRC MC&A regulations have not been updated to accommodate advanced reactors, including types of MSRs. Because no liquid-fueled MSR has been licensed for operation at the time of this report, no template or precedence for a successfully licensed MSR MC&A plan exists. However, the MSR license applicant can take advantage of the NRC’s published commitments to performance-based regulations. The authors recommend that the license applicant, or MSR designers, develop an MC&A plan throughout the design lifecycle and plan to submit a detailed MC&A program description, or MC&A plan, to the NRC as a part of a license application. No MC&A plan template or guidance exists that is specific to liquid-fueled MSRs. The authors recommend that license applicants discuss the topic of MC&A during preapplication engagement. Because of the uniqueness of MC&A for liquid fueled MSRs, the authors recommend that liquid fueled MSR developers engage with the NRC on the topic of MC&A in the early phases of its design development and follow up any time there are significant modifications in design plans that would affect MC&A. For example, topics like modifications in fuel handling processes, changes in uranium enrichment, or additional chemical processing streams added to the design could be discussed with the NRC specifically on the topic of MC&A.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
NASA NTRS1976

Payload crew activity planning integration. Task 2: Inflight operations and training for payloads

The primary objectives of the Payload Crew Activity Planning Integration task were to: (1) Determine feasible, cost-effective payload crew activity planning integration methods. (2) Develop an implementation plan and guidelines for payload crew activity plan (CAP) integration between the JSC Orbiter planners and the Payload Centers. Subtask objectives and study activities were defined as: (1) Determine Crew Activity Planning Interfaces. (2) Determine Crew Activity Plan Type and Content. (3) Evaluate Automated Scheduling Tools. (4) Develop a draft Implementation Plan for Crew Activity Planning Integration. The basic guidelines were to develop a plan applicable to the Shuttle operations timeframe, utilize existing center resources and expertise as much as possible, and minimize unnecessary data exchange not directly productive in the development of the end-product timelines.

Hitz, F. R.↗
NASA NTRS1979

The requirements and feasibility of business planning in the office of space and terrestrial applications

The feasibility of applying strategic business planning techniques which are developed and used in the private sector to the planning of certain projects within the NASA Office of Space and Terrestrial Applications was assessed. The methods of strategic business planning that are currently in use in the private sector are examined. The typical contents of a private sector strategic business plan and the techniques commonly used to develop the contents of the plan are described, along with modifications needed to apply these concepts to public sector projects. The current long-range planning process in the Office of Space and Terrestrial Applications is reviewed and program initiatives that might be candidates for the use of strategic business planning techniques are identified. In order to more fully illustrate the information requirements of a strategic business plan for a NASA program, a sample business plan is prepared for a hypothetical Operational Earth Resources Satellite program.

Greenberg, J. S.↗
NASA NTRS1987

The Mission Operations Planning Assistant

The Mission Operations Planning Assistant (MOPA) is a knowledge-based system developed to support the planning and scheduling of instrument activities on the Upper Atmospheric Research Satellite (UARS). The MOPA system represents and maintains instrument plans at two levels of abstraction in order to keep plans comprehensible to both UARS Principal Investigators and Command Management personnel. The hierarchical representation of plans also allows MOPA to automatically create detailed instrument activity plans from which spacecraft command loads may be generated. The MOPA system was developed on a Symbolics 3640 computer using the ZetaLisp and ART languages. MOPA's features include a textual and graphical interface for plan inspection and modification, recognition of instrument operational constraint violations during the planning process, and consistency maintenance between the different planning levels. This paper describes the current MOPA system.

Schuetzle, James G.↗
NASA NTRS1987

The mission operations planning assistant

The Mission Operations Planning Assistant (MOPA) is a knowledge-based system developed to support the planning and scheduling of instrument activities on the Upper Atmospheric Research Satellite (UARS). The MOPA system represents and maintains instrument plans at two levels of abstraction in order to keep plans comprehensible to both UARS Prinicpal Investigators and Command Management personnel. The hierarchical representation of plans also allows MOPA to automatically create detailed instrument activity plans from which spacecraft command loads may be generated. The MOPA system was developed on a Symbolics 3640 computer using the ZETALISP and ART languages. MOPA's features include a textual and graphical interface for plan inspection and modification, recognition of instrument operational constraint violations during the planning process, and consistency maintenance between the different planning levels. This paper describes the current MOPA system.

Schuetzle, James G.↗
NASA NTRS1990

The Office of Space Science and Applications strategic plan, 1990: A strategy for leadership in space through excellence in space science and applications

A strategic plan for the U.S. space science and applications program during the next 5 to 10 years was developed and published in 1988. Based on the strategies developed by the advisory committees of both the National Academy of Science and NASA, the plan balances major, moderate, and small mission initiatives, the utilization of the Space Station Freedom, and the requirements for a vital research base. The Office of Space Science and Applications (OSSA) strategic plan is constructed around five actions: establish a set of programmatic themes; establish a set of decision rules; establish a set of priorities for missions and programs within each theme; demonstrate that the strategy will yield a viable program; and check the strategy for consistency within resource constraints. The OSSA plan is revised annually. This OSSA 1990 Strategic Plan refines the 1989 Plan and represents OSSA's initial plan for fulfilling its responsibilities in two major national initiatives. The Plan is now built on interrelated, complementary strategies for the core space science and applications program, for the U.S. Global Change Research Program, and for the Space Exploration Initiative. The challenge is to make sure that the current level of activity is sustained through the end of this century and into the next. The 1990 Plan presents OSSA's strategy to do this.

Source record↗
NASA NTRS1991

Integrated Technology Plan for the Civil Space Program, 1991

The purpose of the Integrated Technology Plan (ITP) is to serve as a strategic plan for the OAST space research and technology (R&T) program, and as a strategic planning framework for other NASA and national participants in advocating and conducting technology developments that support future U.S. civil space missions. The ITP begins with a discussion of the national policy and NASA organization which establishes the overall framework for civil space R&T planning. The second chapter provides a top-level review of the potential users of civil space R&T, their strategic mission plans, and the technologies they have identified as needed to achieve those plans. The overall methodology used to develop a civil space technology strategy is discussed. The technical details of the 1991 strategic plan are described, ending with a review of civil space R&T priorities. The fourth chapter describes how the strategic plan is annually translated into the OAST Space R&T Program, with a summary of the fiscal year 1992 program. The ITP concludes with a discussion of requirements for technology development coordination and strategies for facilitating the transfer of civil space technology to the private sector. Several appendices also are attached that provide further information regarding budget implications of the strategic plan, organizational roles, and other topics.

Source record↗
NASA NTRS1992

Backward assembly planning with DFA analysis

An assembly planning system that operates based on a recursive decomposition of assembly into subassemblies is presented. The planning system analyzes assembly cost in terms of stability, directionality, and manipulability to guide the generation of preferred assembly plans. The planning in this system incorporates the special processes, such as cleaning, testing, labeling, etc., that must occur during the assembly. Additionally, the planning handles nonreversible, as well as reversible, assembly tasks through backward assembly planning. In order to decrease the planning efficiency, the system avoids the analysis of decompositions that do not correspond to feasible assembly tasks. This is achieved by grouping and merging those parts that can not be decomposable at the current stage of backward assembly planning due to the requirement of special processes and the constraint of interconnection feasibility. The invention includes methods of evaluating assembly cost in terms of the number of fixtures (or holding devices) and reorientations required for assembly, through the analysis of stability, directionality, and manipulability. All these factors are used in defining cost and heuristic functions for an AO* search for an optimal plan.

Lee, Sukhan↗
NASA NTRS1992

Multi-agent planning and scheduling, execution monitoring and incremental rescheduling: Application to motorway traffic

This article describes a planning method applicable to agents with great perception and decision-making capabilities and the ability to communicate with other agents. Each agent has a task to fulfill allowing for the actions of other agents in its vicinity. Certain simultaneous actions may cause conflicts because they require the same resource. The agent plans each of its actions and simultaneously transmits these to its neighbors. In a similar way, it receives plans from the other agents and must take account of these plans. The planning method allows us to build a distributed scheduling system. Here, these agents are robot vehicles on a highway communicating by radio. In this environment, conflicts between agents concern the allocation of space in time and are connected with the inertia of the vehicles. Each vehicle made a temporal, spatial, and situated reasoning in order to drive without collision. The flexibility and reactivity of the method presented here allows the agent to generate its plan based on assumptions concerning the other agents and then check these assumptions progressively as plans are received from the other agents. A multi-agent execution monitoring of these plans can be done, using data generated during planning and the multi-agent decision-making algorithm described here. A selective backtrack allows us to perform incremental rescheduling.

Mourou, Pascal↗
NASA NTRS1998

Hybrid Motion Planning with Multiple Destinations

In our initial proposal, we laid plans for developing a hybrid motion planning system that combines the concepts of visibility-based motion planning, artificial potential field based motion planning, evolutionary constrained optimization, and reinforcement learning. Our goal was, and still is, to produce a hybrid motion planning system that outperforms the best traditional motion planning systems on problems with dynamic environments. The proposed hybrid system will be in two parts the first is a global motion planning system and the second is a local motion planning system. The global system will take global information about the environment, such as the placement of the obstacles and goals, and produce feasible paths through those obstacles. We envision a system that combines the evolutionary-based optimization and visibility-based motion planning to achieve this end.

Clouse, Jeffery↗