Underwater robots are often used to investigate marine animals. Ideally, such robots should be in the shape of fish so that they can easily go unnoticed by aquatic animals. In addition, lacking a screw propeller, a robotic fish would be less likely to become entangled in algae and other plants. However, although such robots have been developed, their swimming speed is significantly lower than t...

We present a general framework for constructing non-interactive universally composable (UC) commitmentschemes that are secure against adaptive adversaries in the non-erasure setting under a single re-usable commonreference string. Previously, such “fully-equipped” UC commitment schemes are only known in [8, 9], with anunavoidable overhead of O(κ) in the sense of communication and co...

We bring to bear the tools of convexity, margins and the newly proposed technique of monotone retargeting upon the task of learning permutations from examples. This leads to novel and efficient algorithms with guaranteed prediction performance in the online setting and on global optimality and the rate of convergence in the batch setting. Monotone retargeting efficiently optimizes over all poss...

The present work considers corridor{following maneuvers for mobile robots with nonholonomic constraints, guided by sensory data acquired by panoramic cameras. The panoramic vision system provides information from an environment with textured walls to the motion control system, which drives the robot along a corridor. Panoramic cameras have a 360 visual eld, a capability that the proposed contro...