...2015 IEEE International Conference on Robotics and Automation (ICRA) Washington State Convention Center Seattle, Washington, May 26-30, 2015 A General Technique for Fast Comprehensive Multi-Root Planning on Graphs by Coloring Vertices and Deferring Edges Christopher M. Dellin Siddhartha S. Srinivasa {cdellin,siddh}@cs.cmu.edu The Robotics Institute Carnegie Mellon University Abstract—We formulate and study the comprehensive multi-root (CMR) planning problem, in which feasible paths are desired between multiple regions. We propose two primary contributions which allow us to extend stateof-the-art sampling-based planners. First, we propose the notion of vertex coloring as a compact representation of the CMR objective on graphs. Second, we propose a method for deferring edge evaluations which do not advance our objective, by way of a simple criterion over these vertex colorings. The resulting approach can be applied to any CMR-agnostic graph-based planner which evaluates a sequence of edges. We prove that the theoretical performance of the colored algorithm is always strictly better than (or equal to) that of the corresponding uncolored version. We then apply the approach to the Probabalistic RoadMap (PRM) algorithm; the resulting Colored Probabalistic RoadMap (cPRM) is illustrated on 2D and 7D CMR problems. I. I NTRODUCTION Many real-world tasks require a robot to quickly accomplish multiple subtasks without a prescribed order. Consider a personal...
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...1. According to Little’s law, under process 1, the average processing time would be 500 / 1000 = 0.5 month or 0.5*30 = 15 days. Under process 2, the average requests undergoing processing is LIR + LA + LB = 375. So, the average processing time is 375 / 1000 = 11.25 days. Therefore, the average processing time was reduced. For approved requests, we can calculate the average processing time as (200*0.25*0.7 + 200*0.25*0.10 + 25*0.7 + 150*0.10) / 200 = 0.3625 = 10.875 days. Hence, we see that the processing time for approved requests did improve. 2. According to the critical path method the first step should be to identify the different activities. In this case we have 15 weeks in the semester, to complete the whole 15 cases. Description Read Case Gather Data Search Literature Load in Data Run Computer Analysis Write/type case Time (days) 1 4 3 1 4 4 Precedence None Read case Read Case Gather Data Load in Data Search Literature & Run According to the critical path developed Task 1, 2 and 3 would take 3 week to finish, task 4 and 5 would take another week to finish and task 6 takes 1 more week to finish. In conclusion the whole project would take approximately, 14 weeks to finish...
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...added a lot of suspense for anyone who had been watching since The Governor was first introduced. Seeing him standing outside the prison, watching Rick, Carl, Hershel, and Michonne, left the audience questioning what was going to happen next. The next couple answered those answered through flashbacks then finally the final episode before the mid-season finale picked up with him outside the fences. Showing him not shoot Michonne or Rick immediately at the end of the fifth episode, then showing how he was abandoned and taken in by a family he seemed to grow attached to in the next two episodes led me to believe that perhaps The Governor had changed. I was certainly wrong by the end of the eighth episode but the way it was shown had me on the edge of my seat the whole...
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...“What can you see?” asked the person at the other end of the line. “I mean, really. Where are you?” Gloria hung up. You weren’t supposed to hang up. When Gloria went for the job at the call centre she was shy. She tried to make herself shrink. She wore a loose black top, a dark brown skirt and flat shoes. The call centre was a square box between roundabouts on the edge of a ring road just outside Newcastle. It was clever, she thought, the way it seemed to have no windows when in fact from the inside you could see out. If Gloria stood up she could see some bullocks in a narrow field. She liked the way they changed position, arranging themselves like compositions for her benefit, sometimes running up and down the field shaking their young wild heads. It was unusual to have a view in this kind of work. Most people sat in cubicles, boxed in by thin screens. The job interview had been hurried and officious. So many people didn’t stay, the interviewer said. What were her plans? “I’ve left school,” she said, “my family is here. I’ve got no plans to go anywhere.” The truth was she didn’t know. She had passed exams. She could go to university if she wanted, but she couldn’t imagine sleeping in a narrow bed in a strange town. Her parents told her to take things slowly, to take a year to think about what she wanted, to dream a little. Friends from school were going to Mexico, to dig ditches in China, build schools in Malawi, but Gloria had never been on an aeroplane, and she was...
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...Hospice & Palliative CareCenter Branch Office Directions (from WS office) Mocksville Office 377 Hospital Street, Mocksville 336-753-0212 40 West Take the Hwy 601 exit, turn (L) at top of ramp Follow Hwy 601 past Lowes, Food Lion & Sonic Keep straight, go through stoplight at Sonic, then take an immediate (L) turn onto Hospital Street (beside Foster Drugs) (Look for Gym 365 as a landmark) Take an immediate (L) into office complex. Stay on top level, proceed to end suite Salisbury Office 512 Klumac Road, Suit 3, Salisbury 704-633-5447 40 East to 52 South to 85 South Take the Jake Alexander Blvd exit, turn (R) Stay in the right-hand lane Turn (R) onto Klumac Road Follow past Trinity Oaks & small bridge Turn (R) into Klumac Square Proceed to (L) corner Walnut Cove Office 235 North Main Street (PO Box 683, Walnut Cove 27052) 336-591-1124 52 North Take the Germanton (Route 8) exit, turn (L) Continue through Germanton Turn (L) at the Shell Station onto Route 8 towards Danbury Turn right on Brook Cove Go to the end of Brook Cove; the office is located on the right at the intersection of Brook Cove and North Main Street OR 40East, 52 North, Take Germanton Rd Exit and turn (L) continue to follow this road until you come to end, Turn (L) onto Hwy 311. At next stop light turn (L) onto Brook Cove Rd., then immediately (L) into parking area. Office is located directly across the street from SunTrust...
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...except Max Dyer. Max is a talented programmer, but he's terrible in the interpersonal skills department. So terrible, in fact, that three years ago Lynne reworked his job after employees complained that he was unengaged and even belligerent. Since then, he's been a solid worker, putting in extra hours and meriting good performance evaluations. But recently, Max's coworkers have noticed a change for the worse in him. True, everyone at MMI is on edge after a round of layoffs, but Max's behavior seems like more than a case of the jitters. To make matters worse, reports of a workplace shooting in Seattle are all over the news. Paige overhears Max shouting at someone on the phone. George finds Max pinning up a certificate from a shooting range in his cubicle, and Nicole, who worries they will all end up as statistics of office violence, wants to know how Lynne plans to ensure their safety. When Lynne tries to talk to Max, it's clear he thinks his coworkers are out to get him. And the truth is, they believe he fits the profile of a man on the edge. But what can Lynne do about an employee who has never made so much as a veiled threat to anyone? Commentators James Alan Fox, a professor of criminal justice at Northeastern University; Steve Kaufer, a cofounder of the Workplace Violence Research Institute; Christine Pearson, a management professor at Thunderbird; Christine Porath, a professor of management and organizational behavior at the University of Southern California's Marshall School...
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...The plot starts with a boy entering the alley with a gum in his mouth, he is a litter bug he was throwing stuff on the streets. he sees the sign DO NOT LITTER. “huh, do not litter. Doesn’t matter if I litter something this doesn’t make the whole city dirty. Stupid signs” He then sits on the bench and sticks his gum out under the chair. leaves his cap nd He while singing baby. Scene 2 An old women sits on the bench and waits for the bus. As she puts her hand on the sides to stand up she gets gum sticking on it. She gives some very convincing advices to audience and a few curse words, later sticking the gum only at the edge of the bin Scene 3 A man of 40 yo comes with the mug of coffee and is talking online on skype to his manager and as he is about to throw his mug at the bin the gum sticks his shirt sleeves. “OH my God” he than looks at his phone “Im sorry Roger give me a minute please.” He rubs the gum on the wall and looks at his phone again “ these people are illiterate this city is dirty, I am considering a transfer. It is very disappointing. Arghhh” Scene 4 2 girls enter talking with psters in their hands 1 “the world’s finest MBA’s are coming to our conference” 2nd “I know. This will be very amazing. We should distribute invitations. 1st “should we mail?” 2nd “ yea we should mail them today” They start putting posters on and one of the girl sees the gum “AHHH stupid boys!” They get the gum out with the help of the scale and cleans off at the bench and leave...
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...http://theiglesianicristo.blogspot.com/2014/06/malacanang-defends-iglesia-ni-cristo.html http://www.ldrmagazine.com/blog/2014/02/20/35-inspiring-open-letters-made/ http://www.ldrmagazine.com/blog/2014/02/20/35-inspiring-open-letters-made/ https://ldr13.wordpress.com/open-when-envelope-ideas/ http://www.ldrmagazine.com/blog/2015/01/22/put-inside-open-letters/ http://www.colenak.eu/?v=RFIEEEE4 http://www.bsp.gov.ph/banking/pbs_new/48.htm http://www.bsp.gov.ph/banking/bspsup_rural.asp https://www.facebook.com/photo.php?v=298736910283770&set=vb.211921458965316&type=2&theater http://prezi.com/2l36dp1y17iy/stimulus-motives-and-motivation/ http://www.scribd.com/doc/23973102/motivation-and-types-of-motives http://books.google.com.ph/books?id=Yz8HuBFXb6cC&pg=PA308&lpg=PA308&dq=Sensory+stimulation+as+stimulus+motives&source=bl&ots=SohwCKd-Wg&sig=ofU9VKEAP7Q3tMwkBkzy2bTQvr8&hl=en&sa=X&ei=zUIWU_n-MqmXiQfV34GwDQ&ved=0CFsQ6AEwBg#v=onepage&q=Sensory%20stimulation%20as%20stimulus%20motives&f=false http://www.csus.edu/indiv/b/blakeh/mgmt/documents/OPM101SupplC.pdf http://www.lifehack.org/articles/communication/13-things-remember-when-life-gets-rough.html http://thefaultinourstarspdf.com/docs/tfios-jg-english.pdf http://www.petron.com/web/Media/uploads/Petron_2012_Annual_Report_-_FORGING_AHEAD.pdf http://www.reuters.com/finance/stocks/financialHighlights?symbol=PCOR.PS http://investing.businessweek.com/research/stocks/financials/ratios.asp?ticker=PCOR:PM ...
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...wings to beat the gray cub. Unfortunately, the gray cub had to give up for the food, and he left. He was walking beside a river, and then he decided to go to another side of the river. However, during his middle way of crossing the river, he was washed away by the strong flow. He could not do anything in river, but finally the water sent him to a shore side. After feeling better, he started walking again. He went through a jungle, and then found a small weasel. He beat the small weasel by using his claws, but when he wanted to try second time, the mom weasel jumped over and sticks her laws into the gray cub’s neck. In the first place, the gray cub wanted to fight back, but he could not. His roar turned out to become crying. He was in the edge of death, but finally his mother, the she wolf, showed up. The she-wolf had a big fight with the mom-weasel, but finally the mom-weasel...
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...sunrise. Atop the highest of the Vilorian Mountains, the city of Astral stood silent against the ringing of silver trumpets from the north highlands. The travelers crossing the last of the mountains rocky crossings took in the scene from under the fruits of a Bombaly tree, standing colossal at one hundred meters in height. Petty fruits the size of a child’s fist lay strewn about under its goliath canopy, dripping with ruby red nectar. The morning wind was crisp and slightly harsh, a sign to all that the winter seasons were coming with quickness. The trail leading up to the city was a four day expedition from the coast, and it had been a taxing journey for all in company. From where he lingered on the edge of the vast mountain Cyril looked down upon the Port of Themme, twenty leagues off. The brilliant light of the day lit up the ocean and surrounded all with a dazzling view of the great maritime reefs that stretched as far as the eye could see. The vastness of the blue ocean always seemed to enlighten Cyril when it stared up at him from the deep, and like always, he treasured the view for a fleeting moment. But with great beauty comes great sorrow, and at that moment the reality of the daunting mission he was on got the better of him, turning his gaze southwards to his...
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...Hot Sunny Day One Sunday morning, hot, and humid sunny day. I woke up, because the sun hits my eyes, and because of that, my window shade fall off. Clearly, I could see it was on my dirty floor. There was a rat sleeping on it. I didn't plan to move the rat, because I was so tried that I couldn't move. I was sitting on the edge of my bed. I stared out at the wall for at less an hour. Then I looked down. As I'm moving down with my eyes. My eyes were so slow that I felt that I'm like a robot. When I tried to get myself up, as I moved away from the edge of the bed. My boxer was like a glue, clinching onto my bed sheet. I would had to use some muscle in order to get it off. It was tricky because my body was sweaty and sticky. I got it off, then I found out that my bed sheet has a yellow mark where I just sat on. It was yellow and it smelled bad. It smelled like a dirty swamp. I almost punk but, I held in. I got into the bathroom. The moment I opened the door, I jumped because there was a girl who was half naked with her head sticking into the toilet. The floor was covered in blood and the sink as well. I had no idea what was going on. I closed the door awkwardly and said, “Please take your...
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...Advertisements Sponsored Users IMI.NewDelhi 131 Posts • Follow misbpgpb 151 Posts • Follow (Photo credit: Orin Zebest) If it was so, it might be; and if it were so, it would be; but as it isn't, it ain't. That's logic. Tweedledee in Lewis Carolls Through the Looking Glass. If the above line confused you, trust me you are not alone. Even God can vanish in a puff of logic. To know how, you can probably jump to the end of this post. To those who choose not to skip let us discuss a few common types of Logical Reasoning problems. Type 1: Cube problems A cube is given with an edge of unit N. It is painted on all faces. It is cut into smaller cubes of edge of unit n. How many cubes will have x faces painted? In these types of questions, the first thing that we need to figure out is the number of smaller cubes. For this, we look at one particular edge of the big cube and figure out how many smaller cubes can fit into this. It will be N/n. So, the number of smaller cubes will be (N/n)3 A cube has 6 faces and none of the smaller cubes will have all faces painted. As a matter of fact, none of the smaller cubes will have even 5 or 4 faces painted. The maximum number of faces, which will be painted on a smaller cube, will be www.pagalguy.com/news/cubes-matchsticks-logical-reasoning-tricks-cat-2011-a-8786850 1/6 10/15/13 Of Cubes and Matchsticks - Logical Reasoning Tricks for CAT 2011 : PaGaLGuY News & Channels 3. This...
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...Michael's son. All the children were playing on all the rides and having a good time. In the afternoon, Michael emphatically announced to all the children that the Fantasy Land was closed. After the hired attendants cleared the park of children and moved them to Michael’s home, the attendants all left. While other children and their parents were inside Michael's house eating cake and watching the birthday boy opening presents, Tommy sneaked out an unlocked the door leading to the amusement park. While Michael was in the kitchen getting more ice cream for the party, he looked out the window in the house and saw Tommy get on the Floaty Boat Ride. While Tommy was getting onto the ride, he stood up and fell into the water, hitting his head on the edge. Tommy sustained a large laceration to his head, and then sank below the surface of the water. Michael ran out and pulled Tommy out of the water. When Tommy arrived at the hospital, Doctor prescribed improper medication that resulted in some permanent brain damage to Tommy. Tommy, through an appointed guardian, has sued Michael. What legal claim and defenses should be asserted in the suit by Tommy against Michael? Against Doctor?...
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...1. Who are the founders of kaingin? An English block (professor: Mr. Bing Polo) of Batch 1984. It was started in their first year of college (1981). Started as an immersion/exposure activity, initially as a requirement by Mr. Polo, then the insertions became a regular thing (not weekly initially, but intermittently) for some members of the class. The group that continued to go on insertions invited friends from other classes and the group grew. The following year, Mr. Polo required another exposure trip for his English class, and some people from that batch joined the upperclassmen who went regularly. Eventually it became a weekly thing (Saturdays). Midweek, we would have a prayer/sharing session, conducted by our Spiritual Advisor, Denny Toledo, who eventually became a Jesuit priest some time after we graduated. 2. Why was it started? What brought these people together? *see above 3. How did the idea of building an organization start? *see above 4. When did Kaingin officially become an org in ateneo? Not known--orgs were not official/formal during our time. 5. Roughly how many members did kaingin have when it was just started as an org? One English block during the required insertion; members of that class who stuck around and continued going were around 10 maybe. Then they were joined by friends. 6. How did the area insertions work during that time? Every Saturday morning, 3-4 hours (8-12nn). The kids would be there in one area (parang activity center ng barangay) and...
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...============= Threat of substitutes -- Very low -- Users do not have any substitute for athletic footwear. Barriers to entry -- medium -- low operational capital needed to start a new company. -- Needs high access to distribution channels -- Brand building is capital intensive Supplier's negotiation Power -- low -- low switching cost -- raw material rubber, cotton etc. : available in abundance -- suppliers can't forward integration: multiple suppliers or many raw material Buyer's negotiation Power -- medium -- Store / chain buyers (like footlocker, Macy's etc..): negotiate on scale of orders. -- Individual buyers -- low bargaining -- Low switching cost -- Nike brand has high value. --Buyer’s inability to integrate backward -- Rivalry : High Perfect competition ------------------------------------------------- Competition based on Pricing ------------------------------------------------- Strategy: Parker used some big talk -- "Nike's infinite marketplace" -- to set some big goals: increase sales by more than 40%, to $27 billion by 2015; meet a set of equally ambitious sustainability benchmarks; grow earnings 7% a year; and keep 33,000 employees thinking as nimbly as possible. "It's like a framework as opposed to a process. We need that organic-ness to be an innovative company that's continually challenging itself," he says. He characterizes his challenge as a struggle to mix his right- and left-brain strengths: "It's about balance." One...
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