Abstract — This work presents a framework for fast reconfiguration of local control policies for a stochastic system to satisfy a high-level task specification. The motion of the system is abstracted to a class of uncertain Markov models known as bounded-parameter Markov decision processes (BMDPs

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

-related methods, showing how they provide a unifying framework for modeling many classes of planning problems studied in AI. It also describes structural properties of MDPs that, when exhibited by particular classes of problems, can be exploited in the construction of optimal or approximately optimal policies

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

Mobile robot localization is the problem of determining a robot's pose from sensor data. This article presents a family of probabilistic localization algorithms known as Monte Carlo Localization (MCL). MCL algorithms represent a robot's belief by a set of weighted hypotheses (samples

“Having looked at monetary policy from both sides now, I can testify that central banking in practice is as much art as science. Nonetheless, while practicing this dark art, I have always found the science quEite useful.” 2 Alan S. Blinder

I develop a general equilibrium model with sticky prices, credit constraints, nominal loans and asset prices. Changes in asset prices modify agents ’ borrowing capacity through collateral value; changes in nominal prices affect real repayments through debt deflation. Monetary policy shocks move

We describe the design and implementation of Dynamo, a software dynamic optimization system that is capable of transparently improving the performance of a native instruction stream as it executes on the processor. The input native instruction stream to Dynamo can be dynamically generated (by a JIT

A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, named the vector field histogram(VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses

by estimating the value of their effects on service performance. A greedy resource allocation algorithm adjusts resource prices to balance supply and demand, allocating resources to their most efficient use. A reconfigurable server switching infrastructure directs request traffic to the servers assigned to each