A major challenge facing outdoor navigation is the localization of a mobile robot as it traverses a particular terrain. Inaccuracies in dead-reckoning and the loss of global positioning information (GPS) often lead to unacceptable uncertainty in vehicle position. We propose a localization algorithm that utilizes cost-based registration and particle filtering techniques to localize a robot in th...

Traditional path-planning involves (1) choosing start and goal points, (2) calculating a path, and (3) following that path. There are, however, many real world scenarios where an agent might need to change its goal and replan, which frequently includes expensively calculating a new path from scratch. We propose an adaptation to RRT* that locally rewires the RRT* tree as the robot moves and path...

activity-based costing 154–61 and outsourcing evaluation 158–59 stages in analysis 155–56 allocate activity costs 155–56 allocate overhead costs 155 create a cost pool for each activity 155 determine the cost drivers 155 adversarial supplier relationships characteristics of 234 and supplier selection criteria 248 Air France 11 Amazon 15, 107, 126 American Express 167, 188, 193 Apple 92, 93 AT&T...

The HTTP protocol, as currently used in the World Wide Web, uses a separate TCP connection for each file requested. This adds significant and unnecessary overhead, especially in the number of network round trips required. We analyze the costs of this approach and propose simple modifications to HTTP that, while interoperating with unmodified implementations, avoid the unnecessary network costs....

This paper presents an area-filtering algorithm for antialiasing technique of computer graphics images. It can be applied to low-resolution image, which the aliasing effect is more visible. Unlike supersampling technique, which costs too much to do well, this technique is simple and suitable for VLSI implementation. Without changing the current PC-based graphics-hardware architecture, this ‘tec...

We present a new access method, called the path dictionary index (PDI) method, for supporting nested queries on object-oriented databases. PDI supports object traversal and associative search, respectively, with a path dictionary and a set of attribute indexes built on top of the path dictionary. We discuss issues on indexing and query processing in object-oriented databases, describe the opera...

Data cubes provide aggregate information to support the analysis of the contents of data warehouses and databases. An important tool to analyze data in data cubes is the range query. For range queries that summarize large regions of massive data cubes, computing the query result on the y can result in non-interactive response times (e.g. in the order of minutes). To speed up range queries, valu...

We present a new access method, called the path dictionary index (PDI) method, for supporting nested queries on object-oriented databases. PDI supports object traversal and associative search, respectively, with a path dictionary and a set of attribute indexes built on top of the path dictionary. We discuss issues on indexing and query processing in object-oriented databases; describe the opera...

Data cubes provide aggregate information to support the analysis of the contents of data warehouses and databases. An important tool to analyze data in data cubes is the range query. For range queries that summarize large regions of massive data cubes, computing the query result on-they can result in non-interactive response times (e.g., in the order of minutes). To speed up range queries, valu...

Data cubes provide aggregate information to support the analysis of the contents of data warehouses and databases. An important tool to analyze data in data cubes is the range query. For range queries that summarize large regions of massive data cubes, computing the query result on-they can result in non-interactive response times. To speed up range queries, values that summarize regions of the...