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— Many navigation systems, including the ubiquitous ROS navigation stack, perform path-planning on a single costmap, in which the majority of information is stored in a single grid. This approach is quite successful at generating collision-free paths of minimal length, but it can struggle in dynamic, people-filled environments when the values in the costmap(More)
In social interactions, the appropriate timing of physical actions is of vital importance. Otherwise appropriate actions performed at the wrong time can completely alter their perceived meaning. In this paper, we propose an approach to developing a physical vocabulary for human-robot interaction that uses trained actors as models of appropriate timing and(More)
Human-Robot Interaction literature frequently uses Gaus-sian distributions within navigation costmaps to model proxemic constraints around humans. While it has proven to be effective in several cases, this approach is often hard to tune to get the desired behavior, often because of unforeseen interactions between different elements in the costmap. There is,(More)
MOTIVATION The most accurate way to determine the intron-exon structures in a genome is to align spliced cDNA sequences to the genome. Thus, cDNA-to-genome alignment programs are a key component of most annotation pipelines. The scoring system used to choose the best alignment is a primary determinant of alignment accuracy, while heuristics that prevent(More)
Robots of varying kinds are appearing with increasing frequency in all manner of staged theatrical productions (see [1] and [2] for examples). While the individual productions are often greeted with positive receptions from their audiences, it is difficult to determine how the general public may react to the very idea of robots on stage acting alongside(More)