<?xml version="1.0" encoding="UTF-8"?>
<rss version="2.0"
	xmlns:content="http://purl.org/rss/1.0/modules/content/"
	xmlns:wfw="http://wellformedweb.org/CommentAPI/"
	xmlns:dc="http://purl.org/dc/elements/1.1/"
	xmlns:atom="http://www.w3.org/2005/Atom"
	xmlns:sy="http://purl.org/rss/1.0/modules/syndication/"
	xmlns:slash="http://purl.org/rss/1.0/modules/slash/"
	>

<channel>
	<title>Mattijs Ghijsen</title>
	<atom:link href="http://www.mattijsghijsen.nl/feed" rel="self" type="application/rss+xml" />
	<link>http://www.mattijsghijsen.nl</link>
	<description></description>
	<lastBuildDate>Wed, 02 May 2012 12:17:52 +0000</lastBuildDate>
	<language>en</language>
	<sy:updatePeriod>hourly</sy:updatePeriod>
	<sy:updateFrequency>1</sy:updateFrequency>
	<generator>http://wordpress.org/?v=3.3.2</generator>
		<item>
		<title>Ph.D Overview Part I</title>
		<link>http://www.mattijsghijsen.nl/ph-d-overview-part-i</link>
		<comments>http://www.mattijsghijsen.nl/ph-d-overview-part-i#comments</comments>
		<pubDate>Wed, 02 May 2012 11:17:47 +0000</pubDate>
		<dc:creator>mattijs</dc:creator>
				<category><![CDATA[work]]></category>
		<category><![CDATA[MAS]]></category>
		<category><![CDATA[overview]]></category>
		<category><![CDATA[Ph.D]]></category>
		<category><![CDATA[research]]></category>

		<guid isPermaLink="false">http://www.mattijsghijsen.nl/?p=161</guid>
		<description><![CDATA[As I am writing my thesis I am trying to create an overview of my work in the past years. The order of topics in this overview is the same as the chapters in my thesis and in most cases also reflects the chronological order in which the research was carried out (with an exception [...]]]></description>
			<content:encoded><![CDATA[<p>As I am writing my thesis I am trying to create an overview of my work in the past years. The order of topics in this overview is the same as the chapters in my thesis and in most cases also reflects the chronological order in which the research was carried out (with an exception of the first two chapters). In this post I describe the first three chapters. Another post will be dedicated to the final chapters of my thesis. The first chapter of the thesis covers the research questions, the methodology and a literature overview. </p>
<p><strong>Market Based Coordination (chapter 2)</strong><br />
This work is more recent than most of the other work I&#8217;ve done but from a MAS-organization-view, it takes a more simple approach than in the other chapters. In this work we have applied market based coordination to the domain of coordinating power consumption by electric vehicles. In particular, we have shown how market based coordination is able to reduce the impact on the (low-voltage) distribution grid. The design of the MAS organization provides us with the basic components to describe MAS organizations. These components provide the basics on which we will extend in the Chapter 3 and will ultimately lead to the AgentCoRe framework in Chapter 4. </p>
<ul>
<li>M. Ghijsen and R. D’hulst.<br /> Market-Based Coordinated Charging of Electric Vehicles on the Low-Voltage Distribution Grid, First International Workshop on Smart Grid Modeling and Simulation, 2011</li>
</ul>
<p><strong>RoboCupRescue (chapter 3)</strong><br />
I started my research by building ambulance agents in the RoboCupRescue simulator. The aim was that these agents should be capable of different forms of coordination. Inspired by Mintzberg we designed and implemented three different types of hierarchical MAS organizations. The research in RoboCupRescue has lead to two publications:</p>
<ul>
<li>M. Ghijsen, W.N.H Jansweijer and B.J. Wielinga.<br /> The Effect of Task-Environment Factors on M.A.S. Coordination and Reorganization. Proceedings of the Sixth Joint Conference on Autonomous Agents and Multiagent Systems, pp. 526-528.</li>
<li>M. Ghijsen, W.N.H. Jansweijer and B.J. Wielinga.<br /> Adaptive Hierarchical Multi-Agent Organizations. In: R. Babuska and F.C.A. Groen (Eds.), Interactive Collaborative Information Systems, SCI 281, pp. 375-400, Springer-Verlag Berlin Heidelberg, 2010</li>
</ul>
<p><strong>AgentCoRe (chapter 4)</strong><br />
Based on lessons learned while designing and implementing organizations in the RoboCupRescue environment, we extracted a number of generic declarative and procedural knowledge components. These generic knowledge components together form the AgentCoRe framework. This framework enables agents to coordinate work in and reorganize the organization they are part of. A first version of this framework was published in:</p>
<ul>
<li>M. Ghijsen, W. Jansweijer and B.J. Wielinga.<br /> Towards a Framework for Agent Coordination and Reorganization, AgentCoRe. In: Sichman, J. S. Padget, J. Ossowski, S. and Noriega, P. (ed.), Coordination, Organizations, Institutions, and Norms in Agent Systems III, Springer-Verlag Berlin Heidelberg, 2008, 4870, 1-14</li>
</ul>
<p><!--Chapters 5 and 6 are covered in <a href="http://www.mattijsghijsen.nl/ph-d-overview-part-ii">overview part II</a>.&#8211;></p>
]]></content:encoded>
			<wfw:commentRss>http://www.mattijsghijsen.nl/ph-d-overview-part-i/feed</wfw:commentRss>
		<slash:comments>0</slash:comments>
		</item>
		<item>
		<title>Market-Based Coordination of Domestic Appliances</title>
		<link>http://www.mattijsghijsen.nl/market-based-coordination-of-domestic-appliances</link>
		<comments>http://www.mattijsghijsen.nl/market-based-coordination-of-domestic-appliances#comments</comments>
		<pubDate>Wed, 17 Mar 2010 12:29:04 +0000</pubDate>
		<dc:creator>mattijs</dc:creator>
				<category><![CDATA[work]]></category>
		<category><![CDATA[coordination]]></category>
		<category><![CDATA[homelab]]></category>
		<category><![CDATA[markets]]></category>
		<category><![CDATA[PowerMatcher]]></category>

		<guid isPermaLink="false">http://www.mattijsghijsen.nl/?p=269</guid>
		<description><![CDATA[Another paper that will be presented at i-sup 2010 by one of my colleages at VITO is about applying market-based coordination to domestic applicances. Controlling devices in the household domain brings a number of challenges such as responsiveness to users and access to the control process of the appliance. In the paper we show how [...]]]></description>
			<content:encoded><![CDATA[<p>Another paper that will be presented at <a href="http://www.i-sup2010.org/" target="_blank">i-sup 2010</a> by one of my colleages at <a href="http://www.vito.be" target="_blank">VITO</a> is about applying market-based coordination to domestic applicances. Controlling devices in the household domain brings a number of challenges such as responsiveness to users and access to the control process of the appliance. In the paper we show how we deal with these issues. We also discuss an experiment in which a fridge, a washing machine, a dishwasher and a MicroCHP coordinate their activities to reduce peak load and optimize the reuse of electricity produced by the MicroCHP. </p>
]]></content:encoded>
			<wfw:commentRss>http://www.mattijsghijsen.nl/market-based-coordination-of-domestic-appliances/feed</wfw:commentRss>
		<slash:comments>0</slash:comments>
		</item>
		<item>
		<title>Coordinated Charching of Electric Vehicles</title>
		<link>http://www.mattijsghijsen.nl/coordinated-charching-of-electric-vehicles</link>
		<comments>http://www.mattijsghijsen.nl/coordinated-charching-of-electric-vehicles#comments</comments>
		<pubDate>Fri, 12 Mar 2010 11:27:33 +0000</pubDate>
		<dc:creator>mattijs</dc:creator>
				<category><![CDATA[work]]></category>
		<category><![CDATA[auctions]]></category>
		<category><![CDATA[coordination]]></category>
		<category><![CDATA[electric vehicles]]></category>
		<category><![CDATA[markets]]></category>
		<category><![CDATA[PowerMatcher]]></category>

		<guid isPermaLink="false">http://www.mattijsghijsen.nl/?p=233</guid>
		<description><![CDATA[In the past months I&#8217;ve been working at VITO on coordinated charging of electric vehicles on a distribution grid. In particular we have been looking at a market based coordination mechanism (PowerMatcher). In this coordination mechanism, cars and households bid for electricity in a single-shot multi-unit auction. In the first part of the study we [...]]]></description>
			<content:encoded><![CDATA[<p>In the past months I&#8217;ve been working at <a href="http://www.vito.be" target="_blank">VITO</a> on coordinated charging of electric vehicles on a distribution grid. In particular we have been looking at a market based coordination mechanism (<a href="http://www.powermatcher.net" target="_blank">PowerMatcher</a>). In this coordination mechanism, cars and households bid for electricity in a single-shot multi-unit auction. </p>
<p>In the first part of the study we explored at which level of electric vehicles, problems on the distribution grid start to occur. We show that at a certain level of plugin hybrid electric vehicles (PHEV) and fully electric vehicles (EV), peak load exceeds the tranformator rating and undervoltage and unbalance exceed the norm. In the second part of the study we show how a market based approach to coordination is able to mitigate these problems. Even in the worst case scenario with 50% PHEV and EV, peak load stays well below the tranformer rating and undervoltage is within the norms.</p>
<p>I will be presenting a paper on this topic in April at the <a href="http://www.i-sup2010.org/" target="_blank">i-sup 2010</a> conference.</p>
]]></content:encoded>
			<wfw:commentRss>http://www.mattijsghijsen.nl/coordinated-charching-of-electric-vehicles/feed</wfw:commentRss>
		<slash:comments>0</slash:comments>
		</item>
		<item>
		<title>Paper: Mobile Phone Experiment</title>
		<link>http://www.mattijsghijsen.nl/paper-mobile-phone-experiment</link>
		<comments>http://www.mattijsghijsen.nl/paper-mobile-phone-experiment#comments</comments>
		<pubDate>Fri, 22 Jan 2010 09:52:55 +0000</pubDate>
		<dc:creator>mattijs</dc:creator>
				<category><![CDATA[work]]></category>
		<category><![CDATA[Android]]></category>
		<category><![CDATA[user experiment]]></category>
		<category><![CDATA[Wizard of Oz]]></category>

		<guid isPermaLink="false">http://www.mattijsghijsen.nl/?p=237</guid>
		<description><![CDATA[My former collegue at the UvA, Henriette Cramer, wrote a paper on the mobile phone experiment: Trying Too Hard? Effects of Mobile Agents’ (Inappropriate) Social Expressiveness on Trust, Affect and Compliance. In April this year, she will present this paper at the CHI 2010 conference in Atlanta.]]></description>
			<content:encoded><![CDATA[<p>My former collegue at the UvA, <a href="http://hcramer.wordpress.com" target="_blank">Henriette Cramer</a>, wrote a paper on the <a href="http://www.mattijsghijsen.nl/mobile-phone-experiment" target="_blank">mobile phone experiment</a>: Trying Too Hard? Effects of Mobile Agents’ (Inappropriate) Social Expressiveness on Trust, Affect and Compliance. In April this year, she will present this paper at the <a href="http://www.chi2010.org/" target="_blank">CHI 2010</a> conference in Atlanta.</p>
]]></content:encoded>
			<wfw:commentRss>http://www.mattijsghijsen.nl/paper-mobile-phone-experiment/feed</wfw:commentRss>
		<slash:comments>0</slash:comments>
		</item>
		<item>
		<title>Mobile Phone Experiment</title>
		<link>http://www.mattijsghijsen.nl/mobile-phone-experiment</link>
		<comments>http://www.mattijsghijsen.nl/mobile-phone-experiment#comments</comments>
		<pubDate>Tue, 30 Jun 2009 09:05:03 +0000</pubDate>
		<dc:creator>mattijs</dc:creator>
				<category><![CDATA[work]]></category>
		<category><![CDATA[Android]]></category>
		<category><![CDATA[Google]]></category>
		<category><![CDATA[HTC dream]]></category>
		<category><![CDATA[user experiment]]></category>
		<category><![CDATA[Wizard of Oz]]></category>

		<guid isPermaLink="false">http://www.tijsepijs.nl/?p=98</guid>
		<description><![CDATA[I have been implementing an application for a Wizard of Oz experiment with a mobile phone. The experiment has been designed and carried out by Henriette Cramer (in the context of the DIADEM project). The system consists of two applications; the observer (Wizard of Oz) application running on a normal PC and the user application [...]]]></description>
			<content:encoded><![CDATA[<p>I have been implementing an application for a Wizard of Oz experiment with a mobile phone. The experiment has been designed and carried out by <a href="http://hcramer.wordpress.com" target="_blank">Henriette Cramer</a> (in the context of the <a href="http://www.ist-diadem.eu" target="_blank">DIADEM</a> project).</p>
<p>The system consists of two applications; the observer (Wizard of Oz) application running on a normal PC and the user application running on the <a href="http://en.wikipedia.org/wiki/HTC_Dream" target="_blank">HTC Dream</a> phone. The observer application is a Java application which enables us to pretend the application on the mobile phone is quite intelligent while actually the observer is doing all the intelligent stuff. The user application was implemented using the <a href="http://en.wikipedia.org/wiki/Android_(operating_system)" target="_blank">Android </a>development platform.</p>
<p><a href="http://www.flickr.com/photos/jagelado/3437922469/" target="_blank"><img alt="HTC Dream" src="http://farm4.static.flickr.com/3314/3437922469_480a6d6ddd.jpg" title="HTC Dream" width="400" height="333" /></a></p>
<p>The main part of the application was an &#8220;indoor-GPS&#8221; system. The phone application shows a map of a part of an office building and displays the position of the user. Because actual GPS is not reliable indoors and not sufficiently accurate, camera&#8217;s were used to see the position of a participant. The wizard uses these video images to determine where the participant is and click on a map in the observer application to indicate the current position of the participant. The observer application will then send this position to the phone application using either a wireless or GPRS connection. </p>
<p>I talked to a few participants after they did the experiment and they didn&#8217;t realize it was a WOZ experiment. At least for them the application behaved convincingly enough to think that somehow GPS was working indoors.</p>
]]></content:encoded>
			<wfw:commentRss>http://www.mattijsghijsen.nl/mobile-phone-experiment/feed</wfw:commentRss>
		<slash:comments>0</slash:comments>
		</item>
		<item>
		<title>Paper: Adaptive Hierarchical Multi-Agent Organizations</title>
		<link>http://www.mattijsghijsen.nl/adaptive-hierarchies</link>
		<comments>http://www.mattijsghijsen.nl/adaptive-hierarchies#comments</comments>
		<pubDate>Tue, 12 May 2009 20:31:35 +0000</pubDate>
		<dc:creator>mattijs</dc:creator>
				<category><![CDATA[work]]></category>
		<category><![CDATA[adaptive]]></category>
		<category><![CDATA[hierarchy]]></category>
		<category><![CDATA[ICIS]]></category>
		<category><![CDATA[MAS]]></category>
		<category><![CDATA[organization]]></category>
		<category><![CDATA[paper]]></category>

		<guid isPermaLink="false">http://www.tijsepijs.nl/?p=95</guid>
		<description><![CDATA[We have written a paper which is our contribution to a book about the results of the ICIS project. In this paper we show how a hierarchical agent organization can adapt its organization according to the balance in workload among the agents. The result is that these adaptive hierarchies perform better while less information exchange [...]]]></description>
			<content:encoded><![CDATA[<p>We have written a paper which is our contribution to a book about the results of the <a href="http://www.icis.nu/" target="_blank">ICIS</a> project. In this paper we show how a hierarchical agent organization can adapt its organization according to the balance in workload among the agents. The result is that these adaptive hierarchies perform better while less information exchange between agents is needed.</p>
<p>This example is the result of a simulation in the RoboCupRescue simulation environment and it shows an evolving hierarchical organization over time. Initially, at t=0, the organization consists of 2 layers:<br />
<a href="http://www.flickr.com/photos/tijsepijs/3609776987/" title="org (t=0) by tijsepijs, on Flickr"><img src="http://farm4.static.flickr.com/3388/3609776987_2e08880ddf.jpg" width="500" height="219" alt="org (t=0)" /></a><br />
<span id="more-95"></span><br />
As the simulation continues, the organizational structure starts to shape itself to the workload distribution over the agents. At t=100 the organization is structured as follows:<br />
<a href="http://www.flickr.com/photos/tijsepijs/3610589328/" title="org (t=100) by tijsepijs, on Flickr"><img src="http://farm3.static.flickr.com/2472/3610589328_8b45d761f6.jpg" width="500" height="377" alt="org (t=100)" /></a></p>
<p>More and more agents finish their initial task and are then assigned to work for other agents. This results in the following organization structure at t=200<br />
<a href="http://www.flickr.com/photos/tijsepijs/3610569700/" title="org (t=200) by tijsepijs, on Flickr"><img src="http://farm4.static.flickr.com/3392/3610569700_cde3920f94.jpg" width="500" height="298" alt="org (t=200)" /></a></p>
]]></content:encoded>
			<wfw:commentRss>http://www.mattijsghijsen.nl/adaptive-hierarchies/feed</wfw:commentRss>
		<slash:comments>1</slash:comments>
		</item>
		<item>
		<title>Simulator used for teaching</title>
		<link>http://www.mattijsghijsen.nl/simulator-used-for-teaching</link>
		<comments>http://www.mattijsghijsen.nl/simulator-used-for-teaching#comments</comments>
		<pubDate>Mon, 20 Apr 2009 19:09:00 +0000</pubDate>
		<dc:creator>mattijs</dc:creator>
				<category><![CDATA[work]]></category>
		<category><![CDATA[MAS]]></category>
		<category><![CDATA[simulator]]></category>
		<category><![CDATA[teaching]]></category>

		<guid isPermaLink="false">http://www.tijsepijs.nl/?p=75</guid>
		<description><![CDATA[The simulation environment is now actually being used in teaching a Multi-Agent Systems course. This course is taught in the 3rd year of the Information Science bachelors program at the UvA. In a series of assignments the students will be programming a team of simple agents that are capable of searching the map and the [...]]]></description>
			<content:encoded><![CDATA[<p>The simulation environment is now actually being used in teaching a Multi-Agent Systems course. This course is taught in the 3rd year of the Information Science bachelors program at the UvA. In a series of assignments the students will be programming a team of simple agents that are capable of searching the map and the rescue of victims. First, the students will have to build agents that act alone. Once they have these agents up and running, the students will have to enable their agents to work together to rescue the victims.</p>
]]></content:encoded>
			<wfw:commentRss>http://www.mattijsghijsen.nl/simulator-used-for-teaching/feed</wfw:commentRss>
		<slash:comments>0</slash:comments>
		</item>
		<item>
		<title>Coordination Demo</title>
		<link>http://www.mattijsghijsen.nl/coordination-demo</link>
		<comments>http://www.mattijsghijsen.nl/coordination-demo#comments</comments>
		<pubDate>Thu, 02 Apr 2009 09:58:55 +0000</pubDate>
		<dc:creator>mattijs</dc:creator>
				<category><![CDATA[work]]></category>
		<category><![CDATA[communication]]></category>
		<category><![CDATA[coordination]]></category>
		<category><![CDATA[MAS]]></category>
		<category><![CDATA[Search and Rescue]]></category>

		<guid isPermaLink="false">http://www.tijsepijs.nl/?p=89</guid>
		<description><![CDATA[I have been working on implementing different types of agent organizations. In the videos below, a team of agents is working together to search and rescue a number of victims. In the first video, agents use mutual adjustment as a coordination mechanism. In the second video, agents use a centralized coordination mechanism. Mutual Adjustment This [...]]]></description>
			<content:encoded><![CDATA[<p>I have been working on implementing different types of agent organizations. In the videos below, a team of agents is working together to search and rescue a number of victims. In the first video, agents use mutual adjustment as a coordination mechanism. In the second video, agents use a centralized coordination mechanism.</p>
<p><strong>Mutual Adjustment</strong><br />
<object width="425" height="344"><param name="movie" value="http://www.youtube.com/v/DJijWduyQkE&#038;hl=en&#038;fs=1&#038;rel=0"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/DJijWduyQkE&#038;hl=en&#038;fs=1&#038;rel=0" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="425" height="344"></embed></object></p>
<p>This is a decentralized organization where agents use mutual adjustment to coordinate the search and rescue effort. When an agent finds a victim, it will send a request for help to the other agents (an agent cannot rescue a victim alone). When another agent receives such a request for cooperation, it can send an offer which includes a time window in which the agent will  available to assist in the rescue of that victim. When enough agents have responded to a request, an agent will send a confirmation of the definite time at which the rescue should take place.</p>
<p><span id="more-89"></span><br />
<strong>Centralized</strong><br />
<object width="425" height="344"><param name="movie" value="http://www.youtube.com/v/LMd3-w1qJ8s&#038;hl=en&#038;fs=1&#038;rel=0"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/LMd3-w1qJ8s&#038;hl=en&#038;fs=1&#038;rel=0" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="425" height="344"></embed></object></p>
<p>This is a centralized organization in which one agent (the manager) coordinates all activities between the other agents (the operators). The manager agent will first send instructions to the operators where to search for victims. When an operator agent finds a victim, the location and health state of that victim is sent to the manager agent. The manager agent will then assign the rescue task of this victim to a group of 3 agents.</p>
]]></content:encoded>
			<wfw:commentRss>http://www.mattijsghijsen.nl/coordination-demo/feed</wfw:commentRss>
		<slash:comments>4</slash:comments>
		</item>
		<item>
		<title>Simulator communication</title>
		<link>http://www.mattijsghijsen.nl/simulator-communication</link>
		<comments>http://www.mattijsghijsen.nl/simulator-communication#comments</comments>
		<pubDate>Thu, 12 Mar 2009 19:41:21 +0000</pubDate>
		<dc:creator>mattijs</dc:creator>
				<category><![CDATA[work]]></category>
		<category><![CDATA[communcation]]></category>
		<category><![CDATA[MAS]]></category>
		<category><![CDATA[Search and Rescue]]></category>
		<category><![CDATA[simulator]]></category>

		<guid isPermaLink="false">http://www.tijsepijs.nl/?p=79</guid>
		<description><![CDATA[In the simulator, agents can communicate with each other using a (simulated) wireless network. In order to manipulate the robustness of the communication network, the number of communication cells can be varied. By increasing the number of cells, the number of routes by which a messages can travel through network also increases. In the case [...]]]></description>
			<content:encoded><![CDATA[<p>In the simulator, agents can communicate with each other using a (simulated) wireless network. In order to manipulate the robustness of the communication network, the number of communication cells can be varied. By increasing the number of cells, the number of routes by which a messages can travel through network also increases. In the case of a failure in one of the communication cells, a network with more communication cells will offer more alternative routes for a message to be delivered at its receiver. </p>
<p>The examples below show different communication networks that all cover 75% of the grid.</p>
<table>
<tr>
<td><img src="http://farm4.static.flickr.com/3304/3526493598_fe54477288_o.png" width="200" height="200" alt="1 cell" /></td>
<td><img src="http://farm4.static.flickr.com/3629/3525686933_0b2916fa8e_o.png" width="200" height="200" alt="4 cells"/></td>
</tr>
<tr>
<td>
<img src="http://farm4.static.flickr.com/3595/3525687191_cbf8a65064_o.png" width="200" height="200" alt="9 cells" />
</td>
<td><img src="http://farm4.static.flickr.com/3248/3525686663_c1a8c8063b_o.png" width="200" height="200" alt="16 cells" /></td>
</tr>
</table>
]]></content:encoded>
			<wfw:commentRss>http://www.mattijsghijsen.nl/simulator-communication/feed</wfw:commentRss>
		<slash:comments>0</slash:comments>
		</item>
		<item>
		<title>Simulator Obstacles</title>
		<link>http://www.mattijsghijsen.nl/simulator-obstacles</link>
		<comments>http://www.mattijsghijsen.nl/simulator-obstacles#comments</comments>
		<pubDate>Fri, 06 Mar 2009 13:03:08 +0000</pubDate>
		<dc:creator>mattijs</dc:creator>
				<category><![CDATA[work]]></category>
		<category><![CDATA[MAS]]></category>
		<category><![CDATA[obstacles]]></category>
		<category><![CDATA[Search and Rescue]]></category>
		<category><![CDATA[simulator]]></category>

		<guid isPermaLink="false">http://www.tijsepijs.nl/?p=66</guid>
		<description><![CDATA[One of the features of the simulator is to create obstacles on the grid. Agents cannot move between grid cells if there is an obstacle. To guarantee there still is a route between any two grid cells, a minimum spanning tree algorithm is used. Examples of search grids with different levels of obstacles are shown [...]]]></description>
			<content:encoded><![CDATA[<p>One of the features of the simulator is to create obstacles on the grid. Agents cannot move between grid cells if there is an obstacle. To guarantee there still is a route between any two grid cells, a <a href="http://en.wikipedia.org/wiki/Minimum_spanning_tree">minimum spanning tree</a> algorithm is used. Examples of search grids with different levels of obstacles are shown below:</p>
<table>
<tr>
<td><img src="http://farm4.static.flickr.com/3065/2774238418_45f9c98725_m.jpg" width="200" height="200" alt="No obstacles" /></td>
<td><img src="http://farm4.static.flickr.com/3191/2774238422_083f6bfee3_m.jpg" width="200" height="200" alt="Little obstacles"/></td>
</tr>
<tr>
<td><img src="http://farm4.static.flickr.com/3048/2774238424_9b43384833_m.jpg" width="200" height="200" alt="Little more obstacles" /></td>
<td><img src="http://farm4.static.flickr.com/3265/2774238428_9cab35ed4c_m.jpg" width="200" height="200" alt="Even more obstacles" /></td>
</tr>
</table>
]]></content:encoded>
			<wfw:commentRss>http://www.mattijsghijsen.nl/simulator-obstacles/feed</wfw:commentRss>
		<slash:comments>0</slash:comments>
		</item>
	</channel>
</rss>

