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In this paper, we automate the traditional problem of Simultaneous Localization and Mapping (SLAM) by interleaving planning for exploring unknown environments by a mobile robot. We denote such planned SLAM systems as SPLAM (Simultaneous Planning Localization and Mapping). The main aim of SPLAM is to plan paths for the SLAM process such that the robot and… (More)
A new methodology for the preparation of alpha-diimines and beta-aminoenones has been devised and represents an alternative route to these and related nitrogenous ligands bearing highly electronegative substituents.
The unique characteristics of mobile ad hoc networks, such as shared wireless channels, dynamic topologies and a reliance on cooperative behaviour, makes routing protocols employed by these networks more vulnerable to attacks than those employed within traditional wired networks. We consider the security of control traffic generated by pro-active or… (More)
Six dimeric aminoalanes of formula [Me(2)Al-mu-N(H)Ar(F)](2)(Ar(F)= 4-C(6)H(4)F (1), 2-C(6)H(4)F (2), 3,5-C(6)H(3)F(2)(3), 2,3,4,5-C(6)HF(4)(4), 2,3,5,6-C(6)HF(4)(5) and C(6)F(5)(6)) have been prepared by treatment of the appropriate fluoroaniline with AlMe(3) in toluene solution at 25 degrees C. The structures of 1-6 were determined by X-ray… (More)
The reaction of 1,3-dimesitylimidazolium chloride with Ti(NMe(2))(4) results in the 1,3-dimesitylimadazol-2-ylidene complex of Ti(NMe(2))(2)Cl(2)(3); the X-ray crystal structure of 3 evidences short intramolecular Cl...C(carbene) contacts.