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RealTime Obstacle Avoidance for Manipulators and Mobile Robots
 INT. JOUR OF ROBOTIC RESEARCH
, 1986
"... This paper presents a unique realtime obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, traditionally considered a high level planning problem, can be effectively distributed between different levels of control, al ..."
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Cited by 1353 (28 self)
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This paper presents a unique realtime obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, traditionally considered a high level planning problem, can be effectively distributed between different levels of control, al
Random Early Detection Gateways for Congestion Avoidance.
 IEEELACM Transactions on Networking,
, 1993
"... AbstractThis paper presents Random Early Detection (RED) gateways for congestion avoidance in packetswitched networks. The gateway detects incipient congestion by computing the average queue size. The gateway could notify connections of congestion either by dropping packets arriving at the gatewa ..."
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Cited by 2713 (31 self)
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layer congestion control protocol such as TCP. The RED gateway has no bias against bursty traffic and avoids the global synchronization of many connections decreasing their window at the same time. Simulations of a TCP/IP network are used to illustrate the performance of RED gateways. lNTRODucTION I N high
Toward an instance theory of automatization
 Psychological Review
, 1988
"... This article presents a theory in which automatization is construed as the acquisition of a domainspecific knowledge base, formed of separate representations, instances, of each exposure to the task. Processing is considered automatic if it relies on retrieval of stored instances, which will occur ..."
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Cited by 644 (38 self)
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an alternative to the modal view of automaticity, arguing that novice performance is limited by a lack of knowledge rather than a scarcity of resources. The focus on learning avoids many problems with the modal view that stem from its focus on resource limitations. Automaticity is an important phenomenon
The Byzantine Generals Problem,"
 ACM Transactions on Programming Languages and Systems,
, 1982
"... Abstract The Byzantine Generals Problem requires processes to reach agreement upon a value even though some of them may fad. It is weakened by allowing them to agree upon an "incorrect" value if a failure occurs. The transaction eormmt problem for a distributed database Js a special case ..."
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Cited by 1561 (6 self)
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of the weaker problem. It is shown that, like the original Byzantine Generals Problem, the weak version can be solved only ff fewer than onethird of the processes may fad. Unlike the onginal problem, an approximate solution exists that can tolerate arbaranly many failures.
Where the REALLY Hard Problems Are
 IN J. MYLOPOULOS AND R. REITER (EDS.), PROCEEDINGS OF 12TH INTERNATIONAL JOINT CONFERENCE ON AI (IJCAI91),VOLUME 1
, 1991
"... It is well known that for many NPcomplete problems, such as KSat, etc., typical cases are easy to solve; so that computationally hard cases must be rare (assuming P != NP). This paper shows that NPcomplete problems can be summarized by at least one "order parameter", and that the hard p ..."
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Cited by 681 (1 self)
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It is well known that for many NPcomplete problems, such as KSat, etc., typical cases are easy to solve; so that computationally hard cases must be rare (assuming P != NP). This paper shows that NPcomplete problems can be summarized by at least one "order parameter", and that the hard
The Vocabulary Problem in HumanSystem Communication
 COMMUNICATIONS OF THE ACM
, 1987
"... In almost all computer applications, users must enter correct words for the desired objects or actions. For success without extensive training, or in firsttries for new targets, the system must recognize terms that will be chosen spontaneously. We studied spontaneous word choice for objects in five ..."
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Cited by 559 (8 self)
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. For example, the popular approach in which access is via one designer's favorite single word will result in 8090 percent failure rates in many common situations. An optimal strategy, unlimited aliasing, is derived and shown to be capable of severalfold improvements.
Theoretical improvements in algorithmic efficiency for network flow problems

, 1972
"... This paper presents new algorithms for the maximum flow problem, the Hitchcock transportation problem, and the general minimumcost flow problem. Upper bounds on ... the numbers of steps in these algorithms are derived, and are shown to compale favorably with upper bounds on the numbers of steps req ..."
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Cited by 560 (0 self)
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required by earlier algorithms. First, the paper states the maximum flow problem, gives the FordFulkerson labeling method for its solution, and points out that an improper choice of flow augmenting paths can lead to severe computational difficulties. Then rules of choice that avoid these difficulties
Finitetime analysis of the multiarmed bandit problem
 Machine Learning
, 2002
"... Abstract. Reinforcement learning policies face the exploration versus exploitation dilemma, i.e. the search for a balance between exploring the environment to find profitable actions while taking the empirically best action as often as possible. A popular measure of a policyâ€™s success in addressing ..."
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Cited by 814 (15 self)
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this dilemma is the regret, that is the loss due to the fact that the globally optimal policy is not followed all the times. One of the simplest examples of the exploration/exploitation dilemma is the multiarmed bandit problem. Lai and Robbins were the first ones to show that the regret for this problem has
An iterative method for the solution of the eigenvalue problem of linear differential and integral
, 1950
"... The present investigation designs a systematic method for finding the latent roots and the principal axes of a matrix, without reducing the order of the matrix. It is characterized by a wide field of applicability and great accuracy, since the accumulation of rounding errors is avoided, through the ..."
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Cited by 539 (0 self)
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The present investigation designs a systematic method for finding the latent roots and the principal axes of a matrix, without reducing the order of the matrix. It is characterized by a wide field of applicability and great accuracy, since the accumulation of rounding errors is avoided, through
FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem
 In Proceedings of the AAAI National Conference on Artificial Intelligence
, 2002
"... The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filterbase ..."
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Cited by 597 (10 self)
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The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filter
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