sections. Section I describes desired functions, design principles, and examples of elementary protection and authentication mechanisms. Any reader familiar with computers should find the first section to be reasonably accessible. Section II requires some familiarity with descriptor-based computer

The technologies, architectures, and methodologies traditionally used to develop distributed applications exhibit a variety of limitations and drawbacks when applied to large scale distributed settings (e.g., the Internet). In particular, they fail in providing the desired degree of configurability

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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, planning under uncertainty, sensor-based planning, visibility, decision-theoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.

The Sketchpad system uses drawing as a novel communication medium for a computer. The system contains input, output, and computation programs which enable it to interpret information drawn directly on a computer display. It has been used to draw electrical, mechanical, scientific, mathematical, and animated drawings; it is a general purpose system. Sketchpad has shown the most usefulness as an aid to the understanding of processes, such as the notion of linkages, which can be described with pictures. Sketchpad also makes it easy to draw highly repetitive or highly accurate drawings and to change drawings previously drawn with it. The many drawings in this thesis were all made with Sketchpad.

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