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The Nash Bargaining Solution in Economic Modeling
 Rand Journal of Economics
, 1986
"... This article establishes the relationship between the static axiomatic theory of bargaining and the sequential strategic approach to bargaining. We consider two strategic models of alternating offers. The models differ in the source of the incentive of the bargaining parties to reach agreement: the ..."
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Cited by 556 (1 self)
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: the bargainers ' time preference and the risk of breakdown of negotiation. Each of the models has a unique perfect equilibrium. When the motivation to reach agreement is made negligible, in each model the unique perfect equilibrium outcome approaches the Nash bargaining solution, with utilities that reflect
Actions as spacetime shapes
 In ICCV
, 2005
"... Human action in video sequences can be seen as silhouettes of a moving torso and protruding limbs undergoing articulated motion. We regard human actions as threedimensional shapes induced by the silhouettes in the spacetime volume. We adopt a recent approach [14] for analyzing 2D shapes and genera ..."
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Cited by 642 (4 self)
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and generalize it to deal with volumetric spacetime action shapes. Our method utilizes properties of the solution to the Poisson equation to extract spacetime features such as local spacetime saliency, action dynamics, shape structure and orientation. We show that these features are useful for action
Time Discounting and Time Preference: A Critical Review
 Journal of Economic Literature
, 2002
"... www.people.cornell.edu/pages/edo1/. ..."
A theory of timed automata
, 1999
"... Model checking is emerging as a practical tool for automated debugging of complex reactive systems such as embedded controllers and network protocols (see [23] for a survey). Traditional techniques for model checking do not admit an explicit modeling of time, and are thus, unsuitable for analysis of ..."
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Cited by 2651 (32 self)
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Model checking is emerging as a practical tool for automated debugging of complex reactive systems such as embedded controllers and network protocols (see [23] for a survey). Traditional techniques for model checking do not admit an explicit modeling of time, and are thus, unsuitable for analysis
Gravity with Gravitas: a Solution to the Border Puzzle
, 2001
"... Gravity equations have been widely used to infer trade ow effects of various institutional arrangements. We show that estimated gravity equations do not have a theoretical foundation. This implies both that estimation suffers from omitted variables bias and that comparative statics analysis is unfo ..."
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Cited by 610 (3 self)
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Gravity equations have been widely used to infer trade ow effects of various institutional arrangements. We show that estimated gravity equations do not have a theoretical foundation. This implies both that estimation suffers from omitted variables bias and that comparative statics analysis is unfounded. We develop a method that (i) consistently and ef ciently estimates a theoretical gravity equation and (ii) correctly calculates the comparative statics of trade frictions. We apply the method to solve the famous McCallum border puzzle. Applying our method, we nd that national borders reduce trade between industrialized countries by moderate amounts of 20–50 percent.
Alternatingtime Temporal Logic
 Journal of the ACM
, 1997
"... Temporal logic comes in two varieties: lineartime temporal logic assumes implicit universal quantification over all paths that are generated by system moves; branchingtime temporal logic allows explicit existential and universal quantification over all paths. We introduce a third, more general var ..."
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Cited by 615 (55 self)
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Temporal logic comes in two varieties: lineartime temporal logic assumes implicit universal quantification over all paths that are generated by system moves; branchingtime temporal logic allows explicit existential and universal quantification over all paths. We introduce a third, more general
For Most Large Underdetermined Systems of Linear Equations the Minimal ℓ1norm Solution is also the Sparsest Solution
 Comm. Pure Appl. Math
, 2004
"... We consider linear equations y = Φα where y is a given vector in R n, Φ is a given n by m matrix with n < m ≤ An, and we wish to solve for α ∈ R m. We suppose that the columns of Φ are normalized to unit ℓ 2 norm 1 and we place uniform measure on such Φ. We prove the existence of ρ = ρ(A) so that ..."
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Cited by 560 (10 self)
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that for large n, and for all Φ’s except a negligible fraction, the following property holds: For every y having a representation y = Φα0 by a coefficient vector α0 ∈ R m with fewer than ρ · n nonzeros, the solution α1 of the ℓ 1 minimization problem min �x�1 subject to Φα = y is unique and equal to α0
FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem
 In Proceedings of the AAAI National Conference on Artificial Intelligence
, 2002
"... The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filterbase ..."
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Cited by 588 (10 self)
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based algorithms, for example, require time quadratic in the number of landmarks to incorporate each sensor observation. This paper presents FastSLAM, an algorithm that recursively estimates the full posterior distribution over robot pose and landmark locations, yet scales logarithmically with the number
Closedform solution of absolute orientation using unit quaternions
 J. Opt. Soc. Am. A
, 1987
"... Finding the relationship between two coordinate systems using pairs of measurements of the coordinates of a number of points in both systems is a classic photogrammetric task. It finds applications in stereophotogrammetry and in robotics. I present here a closedform solution to the leastsquares pr ..."
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Cited by 973 (4 self)
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Finding the relationship between two coordinate systems using pairs of measurements of the coordinates of a number of points in both systems is a classic photogrammetric task. It finds applications in stereophotogrammetry and in robotics. I present here a closedform solution to the least
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