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Ubiquitous Computing advocates the enhancement of physical spaces with computing and communication resources that help users perform various kinds of tasks. However, these environments are highly complex, dynamic and fault-prone. Besides, different environments have different resources, architectures and policies. Hence, developers find it difficult to(More)
Robot motion planning with differential constraints has received a great deal of attention in the last few decades, yet it still remains a challenging problem. Among a number of reasons, three stand out. First, the differential constraints that most physical robots exhibit render the coupling between the control and state spaces quite complicated. Second,(More)
Traditionally, the goal of image segmentation is to produce a single partition of an image. This partition is then compared to some \ground truth," or human approved partition, to evaluate the performance of the algorithm. This thesis utilizes a framework for considering a range of possible partitions of the image to compute a distribution of possible(More)