Abstract-An efficient and reliable algorithm for computing the Euclidean distance between a pair of convex sets in Rm is described. Extensive numerical experience with a broad family of polytopes in R3 shows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which makes its application in a variety of robotics problems attractive. These are discussed and an example of collision detection is given. I.

We propose a novel formalism, called Frame Logic (abbr., F-logic), that accounts in a clean and declarative fashion for most of the structural aspects of object-oriented and frame-based languages. These features include object identity, complex objects, inheritance, polymorphic types, query methods

Although object-oriented database systems offer advantages over relational or record-oriented database systems, such as modeling facilities for complex objects, they are criticized for poor performance and query capabilities on set-oriented applications. The unacceptable performance is due in part

the biological feasibility of this class of models to explain higher level visual processing, such as object recognition. We describe a new hierarchical model that accounts well for this complex visual task, is consistent with several recent physiological experiments in inferotemporal cortex and makes testable

This thesis defines a set of program restructuring operations (refactorings) that support the design, evolution and reuse of object-oriented application frameworks. The focus of the thesis is on automating the refactorings in a way that preserves the behavior of a program. The refactorings

, we relate our experience fitting the cache into the increasingly complex and operational world of Internet information systems, including issues related to security, transparency to cache-unaware clients, and the role of file systems in support of ubiquitous wide-area information systems.

Various models and languages for describing and manipulating hierarchically structured data have been proposed. Algebraic, calculus-based and logic-programming oriented languages have all been considered. This paper presents a general model for complex objects, and languages for it based

Multi-objective evolutionary algorithms which use non-dominated sorting and sharing have been mainly criticized for their (i) O(MN computational complexity (where M is the number of objectives and N is the population size), (ii) non-elitism approach, and (iii) the need for specifying a sharing

is a method for combining increasingly more complex classifiers in a "cascade" which allows background regions of the image to be quickly discarded while spending more computation on promising object-like regions. The cascade can be viewed as an object specific focus-of-attention mechanism

We present a broad extension of the conventional formalism of state machines and state diagrams, that is relevant to the specification and design of complex discrete-event systems, such as multi-computer real-time systems, communication protocols and digital control units. Our diagrams, which we