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Projects in this area tend to vary greatly and to be highly individualized. Examples below are shown only to give a taste of possible topics. 18. Experimental validation of, using a robot available for this work, one or more sensor-based motion planning algorithms. 19. Experimental study of a few existing sensing devices for the choice of technology that satis es in the best way a given motion planning system. Examples: infrared, ultrasound, capacitance, electromagnetic, and so on, sensors. 20. Sensor/processing systems for detecting surrounding objects and doing motion planning. 21. Experimental analysis of human performance in spatial reasoning tasks: teleoperation skills; motion planning skills; effects of training.

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1. V. Lumelsky, S. Mukhopadhyay, and K. Sun. Dynamic path planning in sensorbased terrain acquisition. IEEE Transactions on Robotics and Automation 6(4): 462 472, 1990. 2. F. Preparata and M. Shamos. Computational Geometry, Springer-Verlag, New York, 1985. 3. J. C. Latombe. Robot Motion Planning, Kluwer Academic Publishers, Dordrecht, 1991. 4. Y. Lajoie et al. Gait of a deafferented subject without large myelinated sensory bers below the neck. Neurology 47(1):109 115, 1996. 5. S. Rossignol et al. Peripheral and spinal mechanisms in neural control of movement. Progress in Brain Research 123:297 309, 1999. 6. M. Brady, J. Hollerbach, T. Johnson, T. Lozano-P rez, and M. Mason, eds. Robot e Motion, MIT Press, Cambridge, MA, 1982. 7. J. Craig. Introduction to Robotics, Mechanics and Control, 2nd ed., AddisonWesley, Reading, MA, 1989. 8. R. Paul. Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, MA, 1981. 9. A. Bejczy. Robot arm dynamics and control. Technical memorandum 33-669. Technical report, Jet Propulsion Laboratory, Pasadena, CA, 1974. 10. R. H. Taylor. Planning and execution of straight line manipulator trajectories. IBM Journal of Research and Development, 23(4):424 436, 1979. 11. J. Schwartz, J. Hopcroft, M. Sharir, eds. Planning, Geometry, and Complexity. Robot Motion Aspects, Ablex Publishing Corporation, Norwood, NJ, 1986. 12. D. Lipski and F. Preparata. Segments, rectangles, contours. Journal of Algorithms 2:63 76, 1981. 13. T. Lozano-P rez. Spatial planning: A con guration space approach. IEEE Transe actions on Computers 32(3):108 120, February 1983. 14. J. Reif. A survey of advances in the theory of computational robotics. In Adaptive and Learning Systems. Theory and Applications, K. S. Narendra, ed., Plenum Press, New York, 1986. 15. J. Reif. Complexity of the Mover s Problem and generalizations. In Proceedings, 20th Symposium of the Foundations of Computer Science, 1979.

So I continued, And I think that I imagined that these men and women on the floor were way too unsophisticated to be making as much as lawyers They were wild down there on the trading floor I laughed and so did Craig But it didn t matter to me I knew they were making more money than I was, or at least I was pretty sure about it And I knew that they were on a roller coaster ride at their job Some of them looked like they were on top of the world Others looked like they needed barf bags But they were feeling something Anything! The last time I felt anything at work was when I handed a set of files to Herb Johnson s secretary and accidentally touched her where her bathing suit covers..

16 J Schwartz and M Sharir On the Piano Mover s problem II General techniques for computing topological properties of real algebraic manifolds Advances in Applied Mathematics 4:298 351, 1983 17 V Lumelsky and A Stepanov Effect of uncertainty on continuous path planning for an autonomous vehicle In 23rd IEEE Conference on Decision and Control, Las Vegas, 1984 18 J Schwartz and M Sharir On the Piano Mover s problem I The case of a two-dimensional rigid polygonal body moving amidst polygonal barriers Communications on Pure and Applied Mathematics 34:345 398, 1983 19 J Hopcroft, J Schwartz, and M Sharir On the complexity of motion planning for multiple independent objects: PSPACE hardness of the warehouseman s problem International Journal of Robotics Research 3(4):76 88, 1984 20 J Hopcroft, D Joseph, and S Whitesides On the movement of robot arms in 2-dimensional bounded regions.

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