We provide an analysis of a recent path planning method which uses probabilistic roadmaps. This method has proven very successful in practice, but the theoretical understanding of its performance is still limited. Assuming that a path exists between two configurations a and b of the robot, we study the dependence of the failure probability to connect a and b on: 1) the length of ; 2) the distan...

We present the equations of four length perfect reconstruction orthogonal filters that depend of a single parameter, as well as their inverse equations. We report experimental results where the parameters are recovered with minimal error by applying the inverse equations.

Let X1, X2, . . . , Xn be independent, identically distributed random variables, uniform on [0, 1]. We observe the Xk sequentially and must stop on exactly one of them. No recollection of the preceding observations is permitted. What stopping rule τ minimizes the expected rank of the selected observation? This full-information expected-rank problem is known as Robbins’ problem. The general solu...

Inspired by two diierent approaches to providing a qualitative method for reasoning under uncertainty|qualitative probabilistic networks and systems of argumentation|this paper attempts to combine the advantages of both by deening systems of argumentation that have a probabilistic semantics.

Incompleteness is addressed by using a framework that allows expression of probability. An update procedure is given to handle nonmonotonic change of knowledge. We point out the relationship between probabilistic diagnosis and probabilistic deductive database updates, and present a coincidence theorem which formally establishes it. An implication of the result allows us to treat diagnostic prob...

A system capable of performing approximate inferences under time constraints is presented. Censored production rules are used to represent both domain and control information. These are given a probabilistic semantics and reasoning is performed using a scheme based on Dempster-Shafer theory. Examples show the naturalness of the representation and the flexibility of the system. Suggestions for f...