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On the probabilistic foundations of probabilistic roadmap planning

by David Hsu, Jean-claude Latombe, Hanna Kurniawati - In Proc. Int. Symp. on Robotics Research , 2005
"... Probabilistic roadmap (PRM) planners [5, 16] solve apparently difficult motion planning problems where the robot’s configuration space C has dimensionality six or more, and the geometry of the robot and the obstacles is described by hundreds of thousands of triangles. While an algebraic planner woul ..."
Abstract - Cited by 63 (11 self) - Add to MetaCart
Probabilistic roadmap (PRM) planners [5, 16] solve apparently difficult motion planning problems where the robot’s configuration space C has dimensionality six or more, and the geometry of the robot and the obstacles is described by hundreds of thousands of triangles. While an algebraic planner

SUBMITTED TO International Journal of Robotics Research On the Probabilistic Foundations of Probabilistic Roadmap Planning

by David Hsu, Jean-claude Latombe, Hanna Kurniawati
"... Why is probabilistic roadmap (PRM) planning probabilistic? How does the probability measure used for sampling a robot’s configuration space affect the performance of a PRM planner? These questions have received little attention so far. This paper tries to fill this gap, with the intent to identify p ..."
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Why is probabilistic roadmap (PRM) planning probabilistic? How does the probability measure used for sampling a robot’s configuration space affect the performance of a PRM planner? These questions have received little attention so far. This paper tries to fill this gap, with the intent to identify

Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces

by Lydia Kavraki, Petr Svestka, Jean-claude Latombe, Mark Overmars - 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 collision-free configurations and whose edg ..."
Abstract - Cited by 1276 (124 self) - Add to MetaCart
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 collision-free configurations and whose

Probabilistic Latent Semantic Indexing

by Thomas Hofmann , 1999
"... Probabilistic Latent Semantic Indexing is a novel approach to automated document indexing which is based on a statistical latent class model for factor analysis of count data. Fitted from a training corpus of text documents by a generalization of the Expectation Maximization algorithm, the utilized ..."
Abstract - Cited by 1207 (11 self) - Add to MetaCart
model is able to deal with domain-specific synonymy as well as with polysemous words. In contrast to standard Latent Semantic Indexing (LSI) by Singular Value Decomposition, the probabilistic variant has a solid statistical foundation and defines a proper generative data model. Retrieval experiments

Probabilistic Latent Semantic Analysis

by Thomas Hofmann - In Proc. of Uncertainty in Artificial Intelligence, UAI’99 , 1999
"... Probabilistic Latent Semantic Analysis is a novel statistical technique for the analysis of two--mode and co-occurrence data, which has applications in information retrieval and filtering, natural language processing, machine learning from text, and in related areas. Compared to standard Latent Sema ..."
Abstract - Cited by 760 (9 self) - Add to MetaCart
Probabilistic Latent Semantic Analysis is a novel statistical technique for the analysis of two--mode and co-occurrence data, which has applications in information retrieval and filtering, natural language processing, machine learning from text, and in related areas. Compared to standard Latent

Learning probabilistic relational models

by Nir Friedman, Lise Getoor, Daphne Koller, Avi Pfeffer - In IJCAI , 1999
"... A large portion of real-world data is stored in commercial relational database systems. In contrast, most statistical learning methods work only with "flat " data representations. Thus, to apply these methods, we are forced to convert our data into a flat form, thereby losing much ..."
Abstract - Cited by 619 (31 self) - Add to MetaCart
of the relational structure present in our database. This paper builds on the recent work on probabilistic relational models (PRMs), and describes how to learn them from databases. PRMs allow the properties of an object to depend probabilistically both on other properties of that object and on properties of related

A Bayesian method for the induction of probabilistic networks from data

by Gregory F. Cooper, EDWARD HERSKOVITS - MACHINE LEARNING , 1992
"... This paper presents a Bayesian method for constructing probabilistic networks from databases. In particular, we focus on constructing Bayesian belief networks. Potential applications include computer-assisted hypothesis testing, automated scientific discovery, and automated construction of probabili ..."
Abstract - Cited by 1381 (32 self) - Add to MetaCart
This paper presents a Bayesian method for constructing probabilistic networks from databases. In particular, we focus on constructing Bayesian belief networks. Potential applications include computer-assisted hypothesis testing, automated scientific discovery, and automated construction

Unsupervised Learning by Probabilistic Latent Semantic Analysis

by Thomas Hofmann - Machine Learning , 2001
"... Abstract. This paper presents a novel statistical method for factor analysis of binary and count data which is closely related to a technique known as Latent Semantic Analysis. In contrast to the latter method which stems from linear algebra and performs a Singular Value Decomposition of co-occurren ..."
Abstract - Cited by 612 (4 self) - Add to MetaCart
-occurrence tables, the proposed technique uses a generative latent class model to perform a probabilistic mixture decomposition. This results in a more principled approach with a solid foundation in statistical inference. More precisely, we propose to make use of a temperature controlled version of the Expectation

A Roadmap of Agent Research and Development

by Nicholas R. Jennings, Katia Sycara - INT JOURNAL OF AUTONOMOUS AGENTS AND MULTI-AGENT SYSTEMS , 1998
"... This paper provides an overview of research and development activities in the field of autonomous agents and multi-agent systems. It aims to identify key concepts and applications, and to indicate how they relate to one-another. Some historical context to the field of agent-based computing is give ..."
Abstract - Cited by 508 (8 self) - Add to MetaCart
This paper provides an overview of research and development activities in the field of autonomous agents and multi-agent systems. It aims to identify key concepts and applications, and to indicate how they relate to one-another. Some historical context to the field of agent-based computing is given, and contemporary research directions are presented. Finally, a range of open issues and future challenges are highlighted.

Planning Algorithms

by Steven M LaValle , 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 ..."
Abstract - Cited by 1108 (51 self) - Add to MetaCart
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
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