A novel probabilistic perception algorithm is presented as a real-time joint solution to data association, object tracking, and object classification for an autonomous ground vehicle in all-weather conditions. The presented algorithm extends a Rao-Blackwellized Particle Filter originally built with a particle filter for data association and a Kalman filter for multi-object tracking (Miller et a...

The DARPA Urban Challenge required robots to drive 60 miles on suburban roads while following the rules of the road in interactions with human drivers and other robots. Tartan Racing’s Boss won the competition, completing the course in just over 4 hours. This paper describes the software infrastructure developed by the team to support the perception, planning, behavior generation, and other art...

Robot navigation in urban environments requires situational reasoning. Given the complexity of the environment and the behavior specified by traffic rules, it is necessary to recognize the current situation to impose the correct traffic rules. In an attempt to manage the complexity of the situational reasoning subsystem, this paper describes a finite state machine model to govern the situationa...

We examine how accretion on to T Tauri stars may be modulated by a time-dependent ‘magnetic gate’ where the inner edge of the accretion disc is disrupted by a varying stellar field. We show that magnetic field variations on time-scales ≪ 10 yr can modulate the accretion flow, thus providing a possible mechanism both for the marked photometric variability of T Tauri stars and for the possible co...

Algebraic multigrid (AMG) is an efficient multilevel method for solving large sparse linear systems obtained from the discretisation of scalar elliptic partial differential equations. AMG can be used to compute powerful preconditioners for use with Krylov subspace methods. We report on the design and development of an efficient, robust and portable implementation of AMG that is available as pac...

For an optimum use of natural resources in the sustainable development trend, there is a need to identify ecological resources in the shortest period of time and minimum possible cost. In this article, we aimed Management ecosystem by Assessment of plant covers changes at Taleghan Township in a twenty year period. Percentage of landscape and number of patch were among the metrics that were calc...

For an optimum use of natural resources in the sustainable development trend, there is a need to identify ecological resources in the shortest period of time and minimum possible cost. In this article, we aimed Management ecosystem by Assessment of plant covers changes at Taleghan Township in a twenty year period. Percentage of landscape and number of patch were among the metrics that were calc...

For an optimum use of natural resources in the sustainable development trend, there is a need to identify ecological resources in the shortest period of time and minimum possible cost. In this article, we aimed Management ecosystem by Assessment of plant covers changes at Taleghan Township in a twenty year period. Percentage of landscape and number of patch were among the metrics that were calc...