Self-reconfiguring modular robotModular self-reconfiguring robotic systems or self-reconfigurable modular robots are autonomous kinematic machines with variable morphology. Beyond conventional actuation, sensing and control typically found in fixed-morphology robots, self-reconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new circumstances, perform new tasks, or recover from damage.
Robot navigationRobot localization denotes the robot's ability to establish its own position and orientation within the frame of reference. Path planning is effectively an extension of localisation, in that it requires the determination of the robot's current position and a position of a goal location, both within the same frame of reference or coordinates. Map building can be in the shape of a metric map or any notation describing locations in the robot frame of reference. For any mobile device, the ability to navigate in its environment is important.
RecursionRecursion occurs when the definition of a concept or process depends on a simpler version of itself. Recursion is used in a variety of disciplines ranging from linguistics to logic. The most common application of recursion is in mathematics and computer science, where a function being defined is applied within its own definition. While this apparently defines an infinite number of instances (function values), it is often done in such a way that no infinite loop or infinite chain of references can occur.
Depth-first searchDepth-first search (DFS) is an algorithm for traversing or searching tree or graph data structures. The algorithm starts at the root node (selecting some arbitrary node as the root node in the case of a graph) and explores as far as possible along each branch before backtracking. Extra memory, usually a stack, is needed to keep track of the nodes discovered so far along a specified branch which helps in backtracking of the graph. A version of depth-first search was investigated in the 19th century by French mathematician Charles Pierre Trémaux as a strategy for solving mazes.
Recursion (computer science)In computer science, recursion is a method of solving a computational problem where the solution depends on solutions to smaller instances of the same problem. Recursion solves such recursive problems by using functions that call themselves from within their own code. The approach can be applied to many types of problems, and recursion is one of the central ideas of computer science. The power of recursion evidently lies in the possibility of defining an infinite set of objects by a finite statement.
Mutual recursionIn mathematics and computer science, mutual recursion is a form of recursion where two mathematical or computational objects, such as functions or datatypes, are defined in terms of each other. Mutual recursion is very common in functional programming and in some problem domains, such as recursive descent parsers, where the datatypes are naturally mutually recursive. The most important basic example of a datatype that can be defined by mutual recursion is a tree, which can be defined mutually recursively in terms of a forest (a list of trees).
Compact cityThe compact city or city of short distances is an urban planning and urban design concept, which promotes relatively high residential density with mixed land uses. It is based on an efficient public transport system and has an urban layout which – according to its advocates – encourages walking and cycling, low energy consumption and reduced pollution. A large resident population provides opportunities for social interaction as well as a feeling of safety in numbers and "eyes on the street".
Recurrent neural networkA recurrent neural network (RNN) is one of the two broad types of artificial neural network, characterized by direction of the flow of information between its layers. In contrast to uni-directional feedforward neural network, it is a bi-directional artificial neural network, meaning that it allows the output from some nodes to affect subsequent input to the same nodes. Their ability to use internal state (memory) to process arbitrary sequences of inputs makes them applicable to tasks such as unsegmented, connected handwriting recognition or speech recognition.
Deterministic context-free languageIn formal language theory, deterministic context-free languages (DCFL) are a proper subset of context-free languages. They are the context-free languages that can be accepted by a deterministic pushdown automaton. DCFLs are always unambiguous, meaning that they admit an unambiguous grammar. There are non-deterministic unambiguous CFLs, so DCFLs form a proper subset of unambiguous CFLs. DCFLs are of great practical interest, as they can be parsed in linear time, and various restricted forms of DCFGs admit simple practical parsers.
A* search algorithmA* (pronounced "A-star") is a graph traversal and path search algorithm, which is used in many fields of computer science due to its completeness, optimality, and optimal efficiency. One major practical drawback is its space complexity, as it stores all generated nodes in memory. Thus, in practical travel-routing systems, it is generally outperformed by algorithms that can pre-process the graph to attain better performance, as well as memory-bounded approaches; however, A* is still the best solution in many cases.
