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dspace.mit.edu 檢索結果共 84617 筆,本頁資料從第 169 筆到第 180 筆

In this paper, we describe a strategy for integrated task and motion planning based on performing a symbolic search for a sequence of high-level operations, such as pick, move and place, while postponing geometric decisions. Partial plans (skeletons) in this search thus pose a geometric constraint-satisfaction problem (CSP), involving sequences of placements and paths f....

By Tomas Lozano-Perez,Leslie P. Kaelbling--Institute of Electrical and Electronics Engineers (IEEE)--2016-01-06
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This paper addresses the problem of identifying mechanisms based on data gathered while interacting with them. We present a decision-theoretic formulation of this problem, using Bayesian filtering techniques to maintain a distributional estimate of the mechanism type and parameters. In order to reduce the amount of interaction required to arrive at a confident identific....

By Patrick R. Barragan,Tomas Lozano-Perez,Leslie P. Kaelbling--Institute of Electrical and Electronics Engineers (IEEE)--2016-01-06
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Spatial representations are fundamental to mobile robots operating in uncertain environments. Two frequently-used representations are occupancy grid maps, which only model metric information, and object-based world models, which only model object attributes. Many tasks represent space in just one of these two ways; however, because objects must be physically grounded in....

By Lawson L. S. Wong,Tomas Lozano-Perez,Leslie P. Kaelbling--Institute of Electrical and Electronics Engineers (IEEE)--2016-01-06
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A deterministic method for sequential estimation of 3-D rotations is presented. The Bingham distribution is used to represent uncertainty directly on the unit quaternion hypersphere. Quaternions avoid the degeneracies of other 3-D orientation representations, while the Bingham distribution allows tracking of large-error (high-entropy) rotational distributions. Experimen....

By Jared Glover,Leslie P. Kaelbling--Institute of Electrical and Electronics Engineers (IEEE)--2016-01-06
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The Future Mobility Survey (FMS) is a smartphone-based prompted-recall travel survey that aims to support data collection initiatives for transport-modeling purposes. This paper details the considerations that have gone into the survey's development, including the smartphone apps for iPhone and Android platforms, the online activity diary and user interface, and the bac....

By Caitlin Cottrill,Francisco Pereira,Fang Zhao,Hock Lim,Moshe Ben-Akiva,P. Christopher Zegras,I Dias--Transportation Research Board of the National Academies--2016-01-06
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This paper examines BRT station walk access patterns in rapidly urbanizing China and the relationship between bus rapid transit (BRT) station context and corridor type and the distance people will walk to access the system (i.e., catchment area). We hypothesize that certain contextual built environment features and station and right-of-way configurations will increase t....

By Yang Jiang,Shomik Mehndiratta,P. Christopher Zegras--Elsevier--2016-01-06
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Planning for the future is inherently risky. In most systems, exogenous driving forces affect any strategy's performance. Uncertainty about the state of those driving forces requires strategies that perform well in the face of a range of possible, even improbable, future conditions. This study formalizes the relationship between different methods proposed in the literat....

By Peter Goodings Swartz,P. Christopher Zegras--Pion Ltd.--2016-01-06
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Ubiquitous solar atmospheric coronal and transition region bright points (BPs) are compact features overlying strong concentrations of magnetic flux. Here, we utilize high-cadence observations from the Atmospheric Imaging Assembly on board the Solar Dynamics Observatory to provide the first observations of extreme ultraviolet quiet-Sun (QS) network BP activity associate....

By D. L. Chesny,N. B. Orange,P. R. Champey,Hakeem M. Oluseyi--IOP Publishing--2016-01-06
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A combination of open data tools and methods, facilitated by data format standardization, has started changing business as usual in the transit industry. The general transit feed specification (GTFS) has become the de facto standard for releasing public transit route and schedule data. This study analyzed this rapidly evolving transit information sector through the Mexi....

By Emily Eros,Shomik Mehndiratta,Kevin Webb,Maria Ochoa,P. Christopher Zegras--Transportation Research Board of the National Academies--2016-01-06
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Future Mobility Sensing (FMS) is an innovative smartphone-based travel survey system that was field tested in 2012/2013 together with the Household Interview Travel Survey (HITS) in Singapore. This paper presents findings of exploratory analysis of the data collected in this test. Clustering of day patterns from FMS data reveals large day-to-day variability of user beha....

By Fang Zhao,Francisco Camara Pereira,Rudi Ball,Youngsung Kim,Yafei Han,P. Christopher Zegras--Transportation Research Board of the National Academies--2016-01-06
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Policy integration has become a high-priority objective for urban planning and management. At the same time, the transportation and urban planning fields have increasingly employed scenario planning approaches, not only to develop long-term strategy, but also—potentially—to strengthen organizational networks and encourage collaborative action. Yet these latter suppo....

By Lisa Rayle,P. Christopher Zegras--Elsevier--2016-01-06
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The smartphone exemplifies the rhetorical smart city movement. This paper examines one potential use of smartphone technology—mapping public transportation services in a megacity of the Global South. We examine the potential user impacts of introducing a smartphone-generated and analogue-delivered schematic bus map in Dhaka, Bangladesh. After distributing the map, we ....

By P. Christopher Zegras,Emily Eros,Kuan Butts,Elizabeth Resor,Stephen Kennedy,Albert Ching--Oxford University Press--2016-01-06
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