A central problem in robotics is planning a collision-free path for a robot in a static environment with obstacles. Such a path is usually extracted from a roadmap that represents the connectedness of the free space. Contemporary algorithms generally do not give guarantees on the quality of the roadmap, and, hence, the quality of the paths. While techniques exist for optimizing the paths in the...

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An autonomous underwater vehicle is supposed to find its trajectory, systematically. It can be obtained by using genetic programming for multi-criterion optimization of the set of alternative paths. For assessment of an underwater vehicle trajectory, three crucial criteria can be used: a total length of a path, a smoothness of a trajectory, and a measure of safety.

We have been developing path planning techniques to look for paths that balance the utility and risk associated with different routes through a minefield. Such methods will allow a battlegroup commander to evaluate alternative route options while searching for low risk paths. A risk management framework can be used to describe the relative values of different factors such as risk versus time to...

Most just-in-time compilers for object-oriented languages operate at the granularity of methods. Unfortunately, even “hot” methods often contain “cold” code paths. As a consequence, just-in-time compilers waste time compiling code that will be executed only rarely, if at all. We discuss an alternative approach in which only truly “hot” code is ever compiled.