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Conclusion In this paper, we proposed a reactive robot control system with hybrid operational techniques in a seaport container terminal considering the robots' reliability. We developed operational techniques in the normal, preventive maintenance, and corrective maintenance states in order to utilize the mutual substitutability of the operation among robots. In the system, each robot was able to respond to the dynamically changing states reactively with the use of the hybrid operational techniques.

A more recent work proposed a better heuristic based on an approximated computation of what is called the vantage time Bandyopadhyay et al. (2006). Pursuit-Evasion Games in Presence of Obstacles in Unknown Environments: towards an optimal pursuit strategy 49 Interestingly, the authors point out that trying to maximize the instantaneous visibility, as done in Gonzalez-Banos et al. (2002); Lee et al. (2002), actually increases the latter probability of the evader disappearance, as opposed to a better balancing between closing the distance to the obstacle and maintaining visibility, which seems to offer a better global behavior of the algorithm.

6(b), there are one failed ATC at the first location and failed AGVs on YL 3 and 2. In this case, the destination is changed to YD 4, and then YL 4 is selected as well. 26 Cutting Edge Robotics 2010 (b) Failed AGVs and ATC on YLs 2 and 3 and at the 1st location Fig. 6. Operation at the container storage yard in the corrective maintenance state (a) Failed AGV on YL 3 6. 1 Experimental condition The MTBFs of the AGV and ATC are 50 and 40 hours, respectively. These are minimum parameters given in our previous work (Hoshino & Ota, 2007).

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