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A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
 Machine Learning
, 1998
"... . This paper addresses the problem of building largescale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximumlikelihood estimation problem. It then devises a practical algorithm for generating the most likely map from ..."
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Cited by 487 (47 self)
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. This paper addresses the problem of building largescale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximumlikelihood estimation problem. It then devises a practical algorithm for generating the most likely map from data, alog with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach. Keywords: Bayes rule, expectation maximization, mobile robots, navigation, localization, mapping, maximum likelihood estimation, positioning, probabilistic reasoning 1. Introduction Over the last two decades or so, the problem of acquiring maps in indoor environments has received considerable attention in the mobile robotics community. The problem of map building is the problem of determining the location of entitiesofinterest (such as: landmarks, obstacles), often relative to a global frame of reference (such as ...
KodairaSpencer theory of gravity and exact results for quantum string amplitudes
 Commun. Math. Phys
, 1994
"... We develop techniques to compute higher loop string amplitudes for twisted N = 2 theories with ĉ = 3 (i.e. the critical case). An important ingredient is the discovery of an anomaly at every genus in decoupling of BRST trivial states, captured to all orders by a master anomaly equation. In a particu ..."
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Cited by 545 (60 self)
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We develop techniques to compute higher loop string amplitudes for twisted N = 2 theories with ĉ = 3 (i.e. the critical case). An important ingredient is the discovery of an anomaly at every genus in decoupling of BRST trivial states, captured to all orders by a master anomaly equation. In a
Finegrained Mobility in the Emerald System
 ACM Transactions on Computer Systems
, 1988
"... Emerald is an objectbased language and system designed for the construction of distributed programs. An explicit goal of Emerald is support for object mobility; objects in Emerald can freely move within the system to take advantage of distribution and dynamically changing environments. We say that ..."
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Cited by 548 (24 self)
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Emerald is an objectbased language and system designed for the construction of distributed programs. An explicit goal of Emerald is support for object mobility; objects in Emerald can freely move within the system to take advantage of distribution and dynamically changing environments. We say
WaitFree Synchronization
 ACM Transactions on Programming Languages and Systems
, 1993
"... A waitfree implementation of a concurrent data object is one that guarantees that any process can complete any operation in a finite number of steps, regardless of the execution speeds of the other processes. The problem of constructing a waitfree implementation of one data object from another lie ..."
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Cited by 873 (28 self)
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A waitfree implementation of a concurrent data object is one that guarantees that any process can complete any operation in a finite number of steps, regardless of the execution speeds of the other processes. The problem of constructing a waitfree implementation of one data object from another
Sorting networks and their applications
, 1968
"... To achieve high throughput rates today's computers perform several operations simultaneously. Not only are I/O operations performed concurrently with computing, but also, in multiprocessors, several computing ..."
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Cited by 660 (0 self)
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To achieve high throughput rates today's computers perform several operations simultaneously. Not only are I/O operations performed concurrently with computing, but also, in multiprocessors, several computing
Fast Folding and Comparison of RNA Secondary Structures (The Vienna RNA Package)
"... Computer codes for computation and comparison of RNA secondary structures, the Vienna RNA package, are presented, that are based on dynamic programming algorithms and aim at predictions of structures with minimum free energies as well as at computations of the equilibrium partition functions and bas ..."
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Cited by 812 (119 self)
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and base pairing probabilities. An efficient heuristic for the inverse folding problem of RNA is introduced. In addition we present compact and efficient programs for the comparison of RNA secondary structures based on tree editing and alignment. All computer codes are written in ANSI C. They include
UNet: A UserLevel Network Interface for Parallel and Distributed Computing
 In Fifteenth ACM Symposium on Operating System Principles
, 1995
"... The UNet communication architecture provides processes with a virtual view of a network interface to enable userlevel access to highspeed communication devices. The architecture, implemented on standard workstations using offtheshelf ATM communication hardware, removes the kernel from the communi ..."
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Cited by 596 (17 self)
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performance equivalent to Meiko CS2 and TMC CM5 supercomputers on a set of SplitC benchmarks. 1
SEDA: An Architecture for WellConditioned, Scalable Internet Services
, 2001
"... We propose a new design for highly concurrent Internet services, whichwe call the staged eventdriven architecture (SEDA). SEDA is intended ..."
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Cited by 522 (10 self)
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We propose a new design for highly concurrent Internet services, whichwe call the staged eventdriven architecture (SEDA). SEDA is intended
Numerical integration of the Cartesian equations of motion of a system with constraints: molecular dynamics of nalkanes
 J. Comput. Phys
, 1977
"... A numerical algorithm integrating the 3N Cartesian equations of motion of a system of N points subject to holonomic constraints is formulated. The relations of constraint remain perfectly fulfilled at each step of the trajectory despite the approximate character of numerical integration. The method ..."
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Cited by 682 (6 self)
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(MD), which has been widely used in the past for studying simple liquids and solids, has more recently been applied to molecular systems with internal degrees of freedom such as N, [l], H,O [2] and even C,H,, [3]. In applying the MD method three problems arise: (a) the choice of a suitable mechanical
Fast Parallel Algorithms for ShortRange Molecular Dynamics
 JOURNAL OF COMPUTATIONAL PHYSICS
, 1995
"... Three parallel algorithms for classical molecular dynamics are presented. The first assigns each processor a fixed subset of atoms; the second assigns each a fixed subset of interatomic forces to compute; the third assigns each a fixed spatial region. The algorithms are suitable for molecular dyn ..."
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Cited by 622 (6 self)
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. The algorithms are tested on a standard LennardJones benchmark problem for system sizes ranging from 500 to 100,000,000 atoms on several parallel supercomputers  the nCUBE 2, Intel iPSC/860 and Paragon, and Cray T3D. Comparing the results to the fastest reported vectorized Cray YMP and C90 algorithm shows
Results 1  10
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1,418,066