Motion planning is a fundamental problem in robotics. It comes in a variety of forms, but the simplest version is as follows. We are given a robot system B, which may consist of several rigid objects attached to each other through various joints, hinges, and links, or moving independently, and a 2D or 3D environment V cluttered with obstacles. We assume that the shape and location of the obstac...

The notion of choice has been characterised as one of the regulating agents of intrinsicmotivation. A study being carried out at the Université H. Poincaré is investigating the effect ofchoice on cognitive and affective engagement during listening tasks. The study compares twogroups of English language learners specialising in other disciplines. The aim of the study is toattempt...

Some algorithms make critical internal use of updatable state, even though their external speciication is purely functional. Based on earlier work on monads, we present a way of securely encapsulating stateful computations that manipulate multiple, named, mutable objects, in the context of a non-strict, purely-functional language. The security of the encapsulation is assured by the type system,...