To use a world model, a mobile robot must be able to determine its own position in the world. To support truly autonomous navigation, I present MARVEL, a system that builds and maintains its own models of world locations ...

A distributed method for mobile robot navigation, spatial learning, and path planning is presented. It is implemented on a sonar-based physical robot, Toto, consisting of three competence layers: 1) Low-level navigation: ...

The Transit network provides high-speed, low-latency, fault-tolerant interconnect for high-performance, multiprocessor computers. The basic connection scheme for Transit uses bidelta style, multistage networks to ...

KAM is a computer program that can automatically plan, monitor, and interpret numerical experiments with Hamiltonian systems with two degrees of freedom. The program has recently helped solve an open problem in ...

A new formulation for recovering the structure and motion parameters of a moving patch using both motion and shading information is presented. It is based on a new differential constraint equation (FICE) that links the ...

A modeling study of hippocampal pyramidal neurons is described. This study is based on simulations using HIPPO, a program which simulates the somatic electrical activity of these cells. HIPPO is based on a) descriptions ...

Robots must act purposefully and successfully in an uncertain world. Sensory information is inaccurate or noisy, actions may have a range of effects, and the robot's environment is only partially and imprecisely ...

This thesis takes an interdisciplinary approach to the study of color vision, focussing on the phenomenon of color constancy formulated as a computational problem. The primary contributions of the thesis are (1) the ...

This robot has low natural frequencies of vibration. Insights into the problems of designing joint and link flexibility are discussed. The robot has three flexible rotary actuators and two flexible, interchangeable ...

This report describes a working autonomous mobile robot whose only goal is to collect and return empty soda cans. It operates in an unmodified office environment occupied by moving people. The robot is controlled by a ...

This work demonstrates how partial evaluation can be put to practical use in the domain of high-performance numerical computation. I have developed a technique for performing partial evaluation by using placeholders ...

This thesis develops an approach to the construction of multidimensional stochastic models for intelligent systems exploring an underwater environment. It describes methods for building models by a three- dimensional ...

Formalizing algorithm derivations is a necessary prerequisite for developing automated algorithm design systems. This report describes a derivation of an algorithm for incrementally matching conjunctive patterns against ...

The Scheme86 and the HP Precision Architectures represent different trends in computer processor design. The former uses wide micro-instructions, parallel hardware, and a low latency memory interface. The latter ...

This thesis presents the ideas underlying a computer program that takes as input a schematic of a mechanical or hydraulic power transmission system, plus specifications and a utility function, and returns catalog numbers ...

We investigate the properties of feedforward neural networks trained with Hebbian learning algorithms. A new unsupervised algorithm is proposed which produces statistically uncorrelated outputs. The algorithm causes ...

Computational theories of action have generally understood the organized nature of human activity through the construction and execution of plans. By consigning the phenomena of contingency and improvisation to ...

Many approaches to force control have assumed the ability to command torques accurately. Concurrently, much research has been devoted to developing accurate torque actuation schemes. Often, torque sensors have been ...

This thesis describes Optimist, an optimizing compiler for the Concurrent Smalltalk language developed by the Concurrent VLSI Architecture Group. Optimist compiles Concurrent Smalltalk to the assembly language of the ...

We are investigating how to program robots so that they learn from experience. Our goal is to develop principled methods of learning that can improve a robot's performance of a wide range of dynamic tasks. We have ...