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We show that explicit MPC solutions admit a closed-form solution which does not require the storage of critical regions. Therefore significant amount of memory can be saved. In fact, not even the construction of such regions is required. Instead, all possible optimal active sets are first extensively enumerated. Then, for each optimal, only the analytical(More)
Independent subspace analysis (ISA) that deals with multi-dimensional independent sources, is a generalization of independent component analysis (ICA). However, all known ISA algorithms may become ineffective when the sources possess temporal structure. The innovation process instead of the original mixtures has been proposed to solve ICA problems with(More)
— We propose a novel method for multi-robot plan adaptation which can be used for adapting existing spatial plans of robotic teams to new environments or imitating collaborative spatial teamwork of robots in novel situations. The algorithm selects correspondences between previous and current spatial features by the application of pairwise constraints, and(More)
In this paper ε-MDP-models are introduced and convergence theorems are proven using the generalized MDP framework of Szepesvári and Littman. Using this model family, we show that Q-learning is capable of finding near-optimal policies in varying environments. The potentials of this new family of MDP models are illustrated via a reinforcement learning(More)
We present a prototype of a recently proposed two stage model of the entorhinal-hippocampal loop. Our aim is to form a general computational model of the sensory neocortex. The model--grounded on pure information theoretic principles--accounts for the most characteristic features of long-term memory (LTM), performs bottom-up novelty detection, and supports(More)
It has been suggested that sensory information processing makes use of a factorial code. It has been shown that the major components of the hippocampal-entorhinal loop can be derived by conjecturing that the task of this loop is forming and encoding independent components (ICs), one type of factorial codes. However, continuously changing environment poses(More)