The implementation of a particle filter (PF) for vision-based simultaneous localisation and mapping (SLAtvI) for a mobile robot in an unstructured indoor environment is presented in this paper. Variations to standard PF are proposed to remedy the sample impoverishment problem in bearing-only SLAM. A CCD camera mounted on the robot is used as the measuring device and image quality is incorporate...

This paper studies distributed control of bearing-constrained multiagent formations using bearing-only measurements. In order to analyze bearing-constrained formations, we first present a bearing rigidity theory that is applicable to arbitrary dimensions. Based on the proposed bearing rigidity theory, we investigate distributed bearing-only formation control in arbitrary dimensions in the prese...

A hybridization procedure was developed to identify Frankia strains inside actinorhizae by direct probing of crushed root nodules. The probe consisted of an indigenous cryptic plasmid. This well-conserved, 8-kilobase plasmid was detected in Frankia isolates that were very close taxonomically (they possessed a very high DNA sequence homology). The probe did not hybridize to the DNA of Frankia is...

Chromosome 11 band q23 is commonly involved in nonrandom chromosomal translocations in hematopoietic malignancies, especially in infant acute leukemias. By using pulsedfield gel electrophoresis (PFGE) with restriction endonuclease digests of DNA from both a leukemia cell line (RS4;ll) bearing the t(4;l l)(q21;q23) and from human/ hamster hybrid cells, we have been able to construct a detailed r...

We use the density matrix renormalization group (DMRG) to map out the ground state of a XY-spin chain coupled to dispersionless phonons of frequency ω. We confirm the existence of a critical spin-phonon coupling α c ∝ ω 0.7 for the onset of the spin gap bearing the signature of a Kosterlitz-Thouless transition. We also observe a classical-quantum crossover when the spin-Peierls gap ∆ is of orde...

This paper proposes a unique method for plotting field bearing locations, of the kind typically taken by wildlife biologists on free ranging species, directly on a computer-compatible habitat map. We show how to use a GIS data base to identify differential habitat use directly from the polygon formed by each set of bearings. A geometric algorithm is developed to interpret the bearings accuratel...

Poincare half-maps can be used to characterize the behavior of recurrent dynamical systems. Their usefulness is demonstrated for a linear three-dimensional single-loop feedback system. In this example everything can be calculated analytically. The resulting half-maps are "benign" endomorphic maps with a complicated topological structure. This is surprising since the combination of two such half...

This article is a brief guide to the field of algorithmic information theory (AIT), its underlying philosophy, and the most important concepts. AIT arises by mixing information theory and computation theory to obtain an objective and absolute notion of information in an individual object, and in so doing gives rise to an objective and robust notion of randomness of individual objects. This is i...