This note represents my attempt at explaining the EM algorithm. This is just a slight variation on Tom Minka's tutorial, perhaps a little easier (or perhaps not). It includes a graphical example to provide some intuition.

We describe a Markov chain Monte Carlo based particle filter that effectively deals with interacting targets, i.e., targets that are influenced by the proximity and/or behavior of other targets. Such interactions cause ...

We present an extension of a smoothing approach to Simultaneous Localization and Mapping (SLAM). We have previously introduced Square-Root SAM, a Smoothing and Mapping approach to SLAM based on Levenberg-Marquardt (LM) ...

This paper reports the methods and results of an on-line survey addressing the issues surrounding lethality and autonomous systems that was conducted as part of a research project for the U.S. Army Research Office. ...

We investigate the automated reconstruction of piecewise smooth 3D curves, using subdivision curves as a simple but flexible curve representation. This representation allows tagging corners to model nonsmooth features ...

The nature of robotic arms invites vibratory behavior while the function of robotic arms is heavily penalized by that vibration. Consequently, understanding and compensating for the tendencies of a robot to vibrate are of ...

In this article, we show how a behavior based control system for autonomous robots can be modeled as a hybrid automaton, where each node corresponds to a distinct robot behavior. This type of construction gives rise to ...

We show how Embedded Graph Grammars (EGGs) are used to specify local interaction rules between mobile robots in a natural manner. This formalism allows us to treat local network topologies, geometric transition conditions, ...

Recently, research on humanoid-type robots has become increasingly active, and a broad array of fundamental issues are under investigation. However, in order to achieve a humanoid robot which can operate in human environments, ...

We describe a Markov chain Monte Carlo based particle filter that effectively deals with interacting targets, i.e., targets that are influenced by the proximity and/or behavior of other targets. Such interactions cause ...