A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose

the modeling of various environments, relieving the modeler from the burden of low-level programming in a general-purpose language. Fleischer and Barr's work on the specification of environments supporting collisions and reaction-diffusion processes [20] is an inspiring step in this direction. Complexity

excessive drain of sensors' limited battery power supply and increased collisions in wireless transmissions. In this paper we describe TTDD, a Two-Tier Data Dissemination approach that provides scalable and e#cient data delivery to multiple mobile sinks. Each data source in TTDD proactively builds a

Each year, the total number of vehicles, motorists, highway infrastructures, and distance traveled by drivers increases on a global basis. This rise in personal and commercial ground vehicle usage brings with it the advantages of the modern age, but it is not without societal cost. Vehicular

Thanks to a variety of new techniques, state-space exploration is becoming an increasingly effective method for the verification of concurrent programs. One of these techniques, hashing without collision detection, was proposed by Holzmann as a waytovastly reduce the amount of memory needed

We consider wireless LANs such as IEEE 802.11 operating in the unlicensed radio spectrum. While their nominal bit rates have increased considerably, the MAC layer remains practically unchanged despite much research effort spent on improving its performance. We observe that most proposals for tuning

by accreting small bodies. Then we address the final stages of planet formation. Oligarchy ends when the surface density of the oligarchs becomes comparable to that of the small bodies. Dynamical friction is no longer able to balance viscous stirring and the oligarchs ’ random velocities increase. In the inner

In this paper we consider the following problem: given two general polyhedra of complexity n, one of which is moving translationally or rotating about a fixed axis, determine the first collision (if any) between them. We present an algorithm with running time O(n 8=5+ffl ) for the case

hinged at the hip, a point-mass at the hip, and infinitesimal point-masses at the feet. The feet have plastic (no-slip, no-bounce) collisions with the slope surface, except during forward swinging, when geometric interference (foot scuffing) is ignored. After nondimensionalizing the governing equations

Collision detection, contact modeling, and collision response are vital but inherently expensive features of a physically based animation system. As scene complexity increases, collision handling quickly becomes a major bottleneck in the simulation process. A trade-off between speed and accuracy