No abstract

We address a challenging multi-agent pathfinding (MAPF) problem for hundreds of agents moving on a 2D roadmap with continuous time. Despite its known potential for producing better solutions compared to typical grid and discrete-time cases, few approaches have been established to solve this problem due to the intractability of collision checks on a large scale. In this work, we propose Prioritized Safe-Interval Path Planning with Continuous-Time Conflicts (PSIPP/CTC) that extends a scalable prioritized planning algorithm to work on the 2D roadmap and continuous-time setup by alleviating intensive collision checks. Our approach involves a novel concept named Continuous-Time Conflict (CTC), which describes a pair among vertices and edges associated with continuous-time intervals within which collisions can happen between agents. We precompute CTCs using geometric neighbor-search and sweeping techniques and annotate roadmaps with the CTCs just once before planning starts. Doing so allows us to efficiently enumerate collision-free time intervals for all vertices and edges and find each agent's path with continous time in prioritized planning. Extensive experimental evaluations demonstrate that PSIPP/CTC significantly outperforms existing methods in terms of planning success rate and runtime while maintaining an acceptable solution quality. As a proof of concept, we also confirmed the effectiveness of the proposed approach on a physics simulation with differential wheeled robots.

Abstract:The stereoselective reduction of an aromatic α-keto amide with actinomycete strains was investigated. It was found that 2-chlorobenzoylformamide was reduced to the corresponding 2-chloromandelamide by mesophilic and thermophilic strains of actinomycetes. Among the strains tested, the reduction of 2-chlorobenzoylformamide by Streptomyces thermocyaneoviolaceus (one of thermophilic strains) in the presence of glycerol as an additive produced only (S)-2-chloromandelamide in 99% conversion with 99% enantiomeric excess (e.e.). On the other hand, the reduction by Streptomyces thermocarboxydovorans NBRC16324 at 45 °C or Thermoactinomyces vulgaris NBRC15851 cultivated in a soluble starch-based medium gave the corresponding (R)-hydroxy amide (conversion, 99%; 99% e.e.). Mesophilic and other thermophilic actinomycete strains also catalyzed the reduction to the corresponding (R)-hydroxy amide with 85%-99% e.e. Thus, the syntheses of both enantiomers of 2-chloromandelamide was achieved though the reduction of 2-chlorobenzoylformamide with different actinomycete strains.

No abstract

No abstract