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

computational rule, the sum-product algorithm operates in factor graphs to compute---either exactly or approximately---various marginal functions by distributed message-passing in the graph. A wide variety of algorithms developed in artificial intelligence, signal processing, and digital communications can

An algorithm for solving large nonlinear optimization problems with simple bounds is described.

. The decoding of both codes can be tackled with a practical sum-product 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 binary-symmetric channel

We describe a method for removing noise from digital images, based on a statistical model of the coefficients of an overcomplete multiscale oriented basis. Neighborhoods of coefficients at adjacent positions and scales are modeled as the product of two independent random variables: a Gaussian

of probabilistic expert systems. We extend the basic method to handle missing data and hidden (latent) variables. We show how to perform probabilistic inference by averaging over the inferences of multiple belief networks. Results are presented of a preliminary evaluation of an algorithm for constructing a belief

that no contemporaneous end-to-end path may ever exist. This situation limits the applicability of traditional routing approaches that tend to treat outages as failures and seek to find an existing end-to-end path. We propose a framework for evaluating routing algorithms in such environments. We then develop several

algorithm. The algorithm is a natural extension of the support vector algorithm to the case of unlabelled d...

, which is required for environment modeling (e.g., building a Digital Elevation Map). Objects are represented by a set of 3-D points, which are considered as the samples of a surface. No constraint is imposed on the form of the objects. The proposed algorithm is based on iteratively matching points

By carefully measuring the amount of time required to perform private key operations, attackers may be able to find fixed Diffie-Hellman exponents, factor RSA keys, and break other cryptosystems. Against a vulnerable system, the attack is computationally inexpensive and often requires only known