This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi-tionally considered a high level planning problem, can be effectively distributed between different levels of control, al

, or the simplest, or both. A randomized algorithm is an algorithm that uses random numbers to influence the choices it makes in the course of its computation. Thus its behavior (typically quantified as running time or quality of output) varies from

The sphere of modern financial economics encompases finance, micro investment theory and much of the economics of uncertainty. As is evident from its influence on other branches of economics including public finance, industrial organization and monetary theory, the boundaries of this sphere

This review collates and examines critically a theoretically convergent but widely dispersed body of research on the influence of external environments on the functioning of families as contexts of human development. Investigations falling within this expanding domain include studies

, the charges users are prepared to pay influence their allocated rates. In the preferred version of the model, a user chooses the charge per unit time that the user will pay; thereafter the user’s rate is determined by the network according to a proportional fairness criterion applied to the rate per unit

Registration is a fundamental task in image processing used to match two or more pictures taken, for example, at different times, from different sensors or from different viewpoints. Over the years, a broad range of techniques have been developed for the various types of data and problems

other fields and feed back their studies to outside researchers. At the same time, such an enterprise would enhance the theoretical rigor of communication scholarship proper. The idea of "framing" offers a case study of just the kind of scattered conceptualization I have identified. Despite

Today's wireless networks are characterized by a fixed spectrum assignment policy. However, a large portion of the assigned spectrum is used sporadically and geographical variations in the utilization of assigned spectrum ranges from 15% to 85% with a high variance in time. The limited

to read pronounceable nonwords as well as skilled readers. A mathematical analysis of the effects of word frequency and spelling-sound consistency in a related but simpler system serves to clarify the close relationship of these factors in influencing naming latencies. These insights are verified

. Ross This paper uses an intertemporal general equilibrium asset pricing model to study the term structure of interest rates. In this model, anticipations, risk aversion, investment alternatives, and preferences about the timing of consumption all play a role in determining bond prices. Many