An adjustable force field for multiple robot mission and path planning

Mission and path planning for multiple robots in dynamic environments is required when multiple mobile robots or unmanned vehicles are used for geographically distributed tasks. Assigning tasks and paths for robots for cooperatively accomplishing a mission of reaching to number of target points are addressed in this paper. The methodology that is proposed is based on using an adjustable force field which is suitable for dynamic environment. From the force field analysis, the decisions to assign tasks for each robot are then made. The force field is also used to plan a collision free path for each robot. Adjustable weights for the force field model are proposed to satisfy the constraints of the motion. In this research, the constraints are the cooperation of the robots, the precedence between the targets and between robots, and the discrimination between different obstacles. Two simulations for mission and path planning in 2D and 3D dynamic spaces with multiple robots are presented based on the proposed adjustable force filed. The result of the mission and path planning for three robots cooperatively doing eight target points are shown.

Mission fulfilment : the role of the non-profit arts board

This research explores the complexity of establishing mission fulfilment through the performance of non-profit arts boards (NP AB). Since the early 1990s, the non-profit literature has only sporadically focussed on the concept of how board performance contributes to mission fulfilment in the broader non-profit sector. Consequently, in both the empirical and normative literatures there is a dearth of understanding of how the nonprofit arts board performance fulfils the organisation's mission. The lack of exploration is problematic for theory development in contextualising non-profit arts board performance contribution to mission fulfilment. Although research has been undertaken in various areas-such as effective and ineffective board performance practices of non-profit organisations, board performance measurement indicators within the arts sector, and mission fulfilment as a result of non-profit organisational effectiveness-research from an extensive literature search did not reveal empirical evidence of the relationship between board performance and mission fulfilment of non-profit arts boards. Against this background, the research issue for the thesis is: How does board performance contribute to mission fulfilment by the non-profit arts organisation?

Understanding pentecostal motivations for undertaking community development in South East Asia : evidence of an expanded understanding of holistic mission

A shift has been observed in the activities of by Western-based, pentecostal mission organisations in mainland South East Asia. Where once these mission organisations avoided formal community development programs as a distraction to their understanding of mission, the funding for and implementation of such programs has increased dramatically in recent times. This shift in focus is best understood by considering motivations and changing pentecostal perceptions of mission. The research is based on new primary data collected through interviews with long-term and senior pentecostal mission practitioners engaging in development projects in mainland South East Asia. It explores their motivations for engaging in community development, and in particular the extent to which community development programs are seen as a strategy for proselytisation as compared the extent to which they are conducted out of other humanitarian motivations. Analysis of this data challenges preconceived notions of proselytisation being the primary motive of pentecostal mission agencies, and demonstrates a more holistic idea of mission.

The changing nature of Islamic mission: The cases of Tablighi Jama’at and the Gülen movement

David Tittensor, argues for the role of faith in development to be reconsidered in relation to the issue of bias in the provision of aid. In doing so, he draws on the works of Amartya Sen and Martha Nussbaum that seek to expand conventional understandings of aid to include wellbeing, and cites the cases of both Tablighi Jamaat and the Gülen Movement – from India and Turkey respectively – and how their religious interventions are at times precisely what Muslims are looking for.

UnitingWorld : Partnership for effective involvement in mission including development

This chapter argues that, both theologically and practically, development is a form of mission and therefore dividing 'mission' and 'development' is artificial. A theological understanding of mission clearly incorporates upholding rights especially of people most excluded and vulnerable, the core task of development.One church agency involved in both development and supporting partners in communicating the gospel is UnitingWorld – the national agency of the Uniting Church in Australia responsible for international partnerships including development. The Uniting Church was formed in 1977 from the merging of three denominations, all of which had a long history of overseas engagement – for example with Fiji since 1844 and Korea since 1889. Such partnerships have endured and spread to the point where the Uniting Church now has thirty six formal partners, mainly in the Pacific and Asia.Over the past 20 years, a range of social trends, such as decolonisation, climate change, and increased global commitment to justice, as well as changes in missiological thinking, have influenced collaboration with indigenous churches as well as organisations not explicitly Christian.Recolonising approaches by international inter-government bodies and by the Australian government through promoting predominantly western neo-liberal economic values to neighbours, invites the church to collaborate in valuing partner cultures, spiritualities, values and world-views. For UnitingWorld this is most evident in its Pacific engagement, especially with programs arising from the Pacific Conference of Churches.These factors have further relativised the tensions between what was seen as “mission” and what was seen as “development”. Evangelism as communication of good news exhibits a different hue – now coming out of the natural conversations between partners and speaking of God’s life- giving alternatives to destructive social and economic models. Whilst development is inherent in mission, the major challenge faced by UnitingWorld is with Protestant partners strongly influenced by an era of church teaching that emphasised personal commitment tied to distinctive religious expressions.In this chapter we use case studies from the Pacific to show how UnitingWorld is partnering with a range of church and other organisations to support people in exercising their rights and re-engaging Australian church communities in this task.