Plan | EPFL Graph Search

A plan is typically any diagram or list of steps with details of timing and resources, used to achieve an objective to do something. It is commonly understood as a temporal set of intended actions through which one expects to achieve a goal. For spatial or planar topologic or topographic sets see map. Plans can be formal or informal:

Structured and formal plans, used by multiple people, are more likely to occur in projects, diplomacy, careers, economic development, military campaigns, combat, sports, games, or in the conduct of other business. In most cases, the absence of a well-laid plan can have adverse effects: for example, a non-robust project plan can cost the organization time and money.
Informal or ad hoc plans are created by individuals in all of their pursuits.

The most popular ways to describe plans are by their breadth, time frame, and specificity; however, these planning classifications are not independent of one another. For instance, there is a close relations

An Archive of Projects on Typology in Architecture 2013-2018

Antje Bittorf, Anja Fröhlich, Martin Fröhlich, Sebastian Lippok, Tiago André Pratas Borges

Learning to construct is the objective of the architecture student, who seeks to bring sketches, sophisticated visualizations, material and component choices, and detailed plans and diagrams together in a single grand composition. Plans and Images offers insight into how architects are trained by examining the teaching and research approach of the Laboratory of Elementary Architecture and Studies of Types (EAST), of the EPFL School of Architecture, Civil and Environmental Engineering (ENAC). Going beyond the traditional notion of functionally determined typologies, Laboratory EAST is concerned more broadly with the principles of typology in architecture. Richly illustrated with drawings and plans by Laboratory EAST’s students, the book also includes essays by Antje Bittorf, Tiago P. Borges, Anja Fröhlich, Martin Fröhlich, Rafael Moneo, and Marie Theres Stauffer. An interview with Rafael Moneo, discussing the research topics pursued at Laboratory EAST, and a photo essay by Swiss photographer Joël Tettamanti round out the book

Parkbooks2019

Rigid body dynamics simulation for robot motion planning

Alan Ettlin

The development of robot motion planning algorithms is inherently a challenging task. This is more than ever true when the latest trends in motion planning are considered. Some motion planners can deal with kinematic and dynamic constraints induced by the mechanical structure of the robot. Another class of motion planners fulfill various types of optimality conditions, yet others include means of dealing with uncertainty about the robot and its environment. Sensor-based motion planners gather information typically afflicted with errors about a partially known environment in order to plan a trajectory therein. In another research area it is investigated how multiple robots best cooperate to solve a common task. In order to deal with the complexity of developing motion planning algorithms, it is proposed in this document to resort to a simulation environment. The advantages of doing so are outlined and a system named Ibex presented which is well suited to support motion planner development. The developed framework makes use of rigid body dynamics algorithms as simulation kernel. Further, various components are included which integrate the simulation into existing engineering environments. Simulation content can be conveniently developed through extensions of well-established 3D modelling tools. The co-simulation with components from other domains of physics is provided by the integration into a leading dynamic modelling environment. Robotic actuator models can be combined with a rigid body dynamics simulation using this mechanism. The same configuration also allows to conveniently develop control algorithms for a rigid body dynamics setup and offers powerful tools for handling and analysing simulation data. The developed simulation framework also offers physics-based models for simulating various sensors, most prominently a model for sensor types based on wave propagation, such as laser range finding devices. Application examples of the simulation framework are presented from the mobile robotics rough-terrain motion planning domain. Three novel rough-terrain planning algorithms are presented which are extensions of known approaches. To quantify the navigational difficulty on rough terrain, a new generic measure named "obstacleness" is proposed which forms the basis of the proposed algorithms. The first algorithm is based on Randomised Potential Field Planners (RPP) and consequently is a local algorithm. The second proposed planner extends RRTconnect , a bi-directional Rapidly Exploring Random Tree (RRT) algorithm and biases exploration of the search space towards easily traversable regions. The third planner is an extension of the second approach and uses the same heuristic to grow a series of additional local RRTs. This allows it to plan trajectories through complex distributions of navigational difficulty benefitting from easy regions throughout the motion plan. A complete example is shown in which the proposed algorithms form the basis for sensor-based dynamic re-planning simulated in the presented framework. In the scenario, a simulated planetary rover navigates a long distance over rough terrain while gathering sensor data about the terrain topography. Where obstacles are sensed which interfere with the original motion plan, dynamic re-planning routines are applied to circumnavigate the hindrances. In the course of this document a complete simulation environment is presented by means of a theoretical background and application examples which can significantly support the development of robot motion planning algorithms. The framework is capable of simulating setups which fulfil the requirements posed by stateof-the-art motion planning algorithm development.

EPFL2006

Le processus de projet dans la reconstruction urbaine suite à une catastrophe

Julien Grisel

This study analyzes three project process for the reconstruction of urban areas destroyed by natural disaster or armed conflict: the village of Gondo in Switzerland, partially destroyed by a landslide, has been refurbished following an architectural competition; the city of Gibellina in Sicily, devastated by an earthquake, was rebuilt on another site by the Italian state; the Palestinian camp of Nahr el-Bared camp in Lebanon destroyed by the Lebanese army, is about to be rebuilt on the basis of a plan developed with the participation of residents. It appears that if the "users" are not active in the planning process it is likely to be inappropriate to their needs and therefore be rejected. Further more, it can be noticed that planners rarely have the means and knowledge necessary for such collaboration. This paper describes the nature of cultural reconstruction project by supporting that it must consider the relationship that people have with the place to rebuild. It addresses two major aspects of this relationship: memory and risk management. The first correspond to the need for commemoration and refers to the place as an identity component of the community. The second requires that we consider the risk as a social construction. We can then integrate risk management, taking into account the cultural dimension, in the reconstruction project to improve the resilience of the community. This research lead to the idea that these aspects can be incorporated into the planning process by using a mind map, that is to say a redrawing on the basis of memory of the place as it was before the disaster. This tool can allow the coproduction of the reconstruction project.

EPFL2010

Rigid body dynamics simulation for robot motion planning

Alan Ettlin

EPFL2006