In this paper we describe a robot path planning algorithm that constructs a global skeleton of free-space by incremental local methods. The curves of the skeleton are the loci of maxima of an arti cial potential eld that is directly proportional to distance of the robot from obstacles. Our method has the advantage of fast convergence of local methods in uncluttered environments, but it also has...

2014 The absorption and emission bands of F aggregate centers are compared with the local modes of Hand Dions substituting the halogen ions in alkali halides. It is shown that the energies of the band maxima of F aggregate centers are proportional to the local vibrational mode energies of the Hor Dions. Because of these correlations, the bands of the F aggregate centers are considered to be due...

We give a detailed derivation of a generalization of the second derivative test of single-variable calculus which can classify critical points as local minima or local maxima (or neither), whenever the traditional second derivative test fails, by considering the values of higher-order derivatives evaluated at the critical points. The enhanced test is local, in the sense that it is only necessar...

The assumption that the elements of cost matrix in classical assignment problem are drawn independently from a standard Gaussian distribution motivates study particular field indexed by symmetric permutation group. correlation structure is determined Hamming distance between two permutations. expectation maximum shown to go infinity same way as if all variables were independent. However, varian...

We propose a simple method for reconstructing thin, low-contrast blood vessels from three-dimensional greyscale images. Our algorithm first extracts persistent maxima of the intensity on all axis-aligned two-dimensional slices through the input volume. Those maxima tend to concentrate along one-dimensional intensity ridges, in particular along blood vessels. Persistence (which can be viewed as ...

Theorem 1. Convergence to local optimum (a) The sequence of iterates Ut of Algorithm 4 satisfies: limt→∞ ||∇f(Ut)|| = 0. This means that the accumulation points of the sequence {Ut}t=1 are critical points of f . (b) Assume the critical points of f are isolated. Let U∗ be a critical point of f . Then U∗ is a local minimum of f if and only if it is asymptotically stable with regard to the sequenc...