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

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

and perspectives adopted in these areas often differ in substantial ways, many planning problems of interest to researchers in these fields can be modeled as Markov decision processes (MDPs) and analyzed using the techniques of decision theory. This paper presents an overview and synthesis of MDP

For many applications it is useful to sample from a finite set of objects in accordance with some particular distribution. One approach is to run an ergodic (i.e., irreducible aperiodic) Markov chain whose stationary distribution is the desired distribution on this set; after the Markov chain

is often used to force the distribution of the intensity log ratios to have a median of zero for each slide. However, such global normalization approaches are not adequate in situations where dye biases can depend on spot overall intensity and/or spatial location within the array. This article proposes

Volume rendering is a technique for visualizing 3D arrays of sampled data. It has applications in areas such as medical imaging and scientific visualization, but its use has been limited by its high computational expense. Early implementations of volume rendering used brute-force techniques

In this paper we present an intermediate program representation, called the program dependence graph (PDG), that makes explicit both the data and control dependence5 for each operation in a program. Data dependences have been used to represent only the relevant data flow relationships of a program

predicated on the belief that information filtering can be more effective when humans are involved in the filtering process. Tapestry was designed to support both content-based filtering and collaborative filtering, which entails people collaborating to help each other perform filtering by recording their reactions to documents they read. The reactions are called annotations; they can be accessed by other people’s filters. Tapestry is intended to handle any incoming stream of electronic documents and serves both as a mail filter and repository; its components are the indexer, document store, annotation store, filterer, little box, remailer, appraiser and reader/browser. Tapestry’s client/server architecture, its various components, and the Tapestry query language are described.

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mathematically by defining an objective function, a measure of performance for any possi-ble movement. The unique trajectory which yields the best performance is determined using dynamic optimization the-ory. In the work presented here, the objective function is the square of the magnitude of jerk (rate