Study on CPS-SLAM
نویسندگان
چکیده
منابع مشابه
On the Overhead of CPS
Continuation-passing style (CPS) is often criticized to be more expensive than the usual direct style of functional programming. By structure, CPS functions indeed are passed one extra argument (the continuation), and each intermediate result indeed occurs in a function call (to the continuation). As higher-order functions, continuations are also more expensive. However, by structure also, CPS ...
متن کاملOn one-pass CPS transformations
We bridge two distinct approaches to one-pass CPS transformations, i.e., CPS transformations that reduce administrative redexes at transformation time instead of in a post-processing phase. One approach is compositional and higherorder, and is independently due to Appel, Danvy and Filinski, and Wand, building on Plotkin’s seminal work. The other is non-compositional and based on a reduction sem...
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We present an algorithm for SLAM on planar graphs. We assume that a robot moves from node to node on the graph using odometry to measure the distance between consecutive landmark observations. At each node, the robot follows a branch chosen at random, without reporting which branch it follows. A low-level process detects (with some uncertainty) the presence of landmarks, such as corners, branch...
متن کاملOn proving syntactic properties of CPS programs
Higher-order program transformations raise new challenges for proving properties of their output, since they resist traditional, first-order proof techniques. In this work, we consider (1) the “one-pass” continuationpassing style (CPS) transformation, which is second-order, and (2) the occurrences of parameters of continuations in its output. To this end, we specify the one-pass CPS transformat...
متن کاملOn proving syntactic properties of CPS
Higher-order program transformations raise new challenges for proving properties of their output, since they resist traditional, rst-order proof techniques. In this work, we consider (1) the \one-pass" continuation-passing style (CPS) transformation, which is second-order, and (2) the occurrences of parameters of continuations in its output. To this end, we specify the one-pass CPS transformati...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2012
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.30.180