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Primitives for the manipulation of general subdivisions and the computations of Voronoi diagrams
 ACM Tmns. Graph
, 1985
"... The following problem is discussed: Given n points in the plane (the sites) and an arbitrary query point 4, find the site that is closest to q. This problem can be solved by constructing the Voronoi diagram of the given sites and then locating the query point in one of its regions. Two algorithms ar ..."
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Cited by 543 (11 self)
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are given, one that constructs the Voronoi diagram in O(n log n) time, and another that inserts a new site in O(n) time. Both are based on the use of the Voronoi dual, or Delaunay triangulation, and are simple enough to be of practical value. The simplicity of both algorithms can be attributed
Probabilistic Roadmaps for Path Planning in HighDimensional Configuration Spaces
 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
, 1996
"... A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collisionfree configurations and whose edg ..."
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Cited by 1276 (124 self)
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A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collisionfree configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (=150 MIPS), after learning for relatively short periods of time (a few dozen seconds)
Surface Reconstruction by Voronoi Filtering
 Discrete and Computational Geometry
, 1998
"... We give a simple combinatorial algorithm that computes a piecewiselinear approximation of a smooth surface from a finite set of sample points. The algorithm uses Voronoi vertices to remove triangles from the Delaunay triangulation. We prove the algorithm correct by showing that for densely sampled ..."
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Cited by 418 (15 self)
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We give a simple combinatorial algorithm that computes a piecewiselinear approximation of a smooth surface from a finite set of sample points. The algorithm uses Voronoi vertices to remove triangles from the Delaunay triangulation. We prove the algorithm correct by showing that for densely sampled
A New VoronoiBased Surface Reconstruction Algorithm
, 2002
"... We describe our experience with a new algorithm for the reconstruction of surfaces from unorganized sample points in R³. The algorithm is the first for this problem with provable guarantees. Given a “good sample” from a smooth surface, the output is guaranteed to be topologically correct and converg ..."
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Cited by 422 (9 self)
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, rather than approximates, the input points. Our algorithm is based on the threedimensional Voronoi diagram. Given a good program for this fundamental subroutine, the algorithm is quite easy to implement.
Instancebased learning algorithms
 Machine Learning
, 1991
"... Abstract. Storing and using specific instances improves the performance of several supervised learning algorithms. These include algorithms that learn decision trees, classification rules, and distributed networks. However, no investigation has analyzed algorithms that use only specific instances to ..."
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Cited by 1359 (18 self)
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to solve incremental learning tasks. In this paper, we describe a framework and methodology, called instancebased learning, that generates classification predictions using only specific instances. Instancebased learning algorithms do not maintain a set of abstractions derived from specific instances
Good ErrorCorrecting Codes based on Very Sparse Matrices
, 1999
"... We study two families of errorcorrecting codes defined in terms of very sparse matrices. "MN" (MacKayNeal) codes are recently invented, and "Gallager codes" were first investigated in 1962, but appear to have been largely forgotten, in spite of their excellent properties. The ..."
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Cited by 741 (23 self)
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We study two families of errorcorrecting codes defined in terms of very sparse matrices. "MN" (MacKayNeal) codes are recently invented, and "Gallager codes" were first investigated in 1962, but appear to have been largely forgotten, in spite of their excellent properties. The decoding of both codes can be tackled with a practical sumproduct algorithm. We prove that these codes are "very good," in that sequences of codes exist which, when optimally decoded, achieve information rates up to the Shannon limit. This result holds not only for the binarysymmetric channel but also for any channel with symmetric stationary ergodic noise. We give experimental results for binarysymmetric channels and Gaussian channels demonstrating that practical performance substantially better than that of standard convolutional and concatenated codes can be achieved; indeed, the performance of Gallager codes is almost as close to the Shannon limit as that of turbo codes.
Sketchpad: A manmachine graphical communication system
, 2003
"... The Sketchpad system uses drawing as a novel communication medium for a computer. The system contains input, output, and computation programs which enable it to interpret information drawn directly on a computer display. It has been used to draw electrical, mechanical, scientific, mathematical, and ..."
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Cited by 702 (6 self)
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, and animated drawings; it is a general purpose system. Sketchpad has shown the most usefulness as an aid to the understanding of processes, such as the notion of linkages, which can be described with pictures. Sketchpad also makes it easy to draw highly repetitive or highly accurate drawings and to change
Planning Algorithms
, 2004
"... This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning ..."
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Cited by 1108 (51 self)
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, planning under uncertainty, sensorbased planning, visibility, decisiontheoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.
Results 1  10
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98,740