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

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

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

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 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

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

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

-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

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.

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