The traditional control problems of trajectory-tracking and regulation have been extensively studied in the field of mobile robotics. In particular, the differential and the omnidirectional mobile robots, also known, respectively, as the (2,0) and the (3,0) robots (see (Bétourné & Campion, 1996), (Campion et al., 1996), have attracted the interest of many control researchers. It is a common pra...

2 Abstract. We investigated testing the likelihood of a phylogenetic tree by comparison to its subtree pruning and regrafting (SPR) neighbors, with or without re-optimizing branch lengths. This is inspired by aspects of Bayesian significance tests, and the use of SPRs for heuristically finding maximum likelihood trees. Through a number of simulations with the Jukes-Cantor model on various topol...