This article presents an algorithm for autonomous map building and maintenance for a mobile robot. We believe that mobile robot navigation can be treated as a problem of tracking ge ometric features that occur naturally in the environment. We represent each feature in the map by a location estimate (the feature state vector) and two distinct measures of uncertainty: a covariance matrix to represent uncertainty in feature loca tion, and a credibility measure to represent our belief in the validity of the feature. During each position update cycle, pre dicted measurements are generated for each geometric feature in the map and compared with actual sensor observations. Suc cessful matches cause a feature's credibility to be increased.

This paper addresses the problem of improving the accuracy of an hypothesis output by a learning algorithm in the distribution-free (PAC) learning model. A concept class is learnable (or strongly learnable) if, given access to a Source of examples of the unknown concept, the learner with high probability is able to output an hypothesis that is correct on all but an arbitrarily small fraction of the instances. The concept class is weakly learnable if the learner can produce an hypothesis that performs only slightly better than random guessing.In this paper, it is shown that these two notions of learnability are equivalent. A method is described for converting a weak learning algorithm into one that achieves arbitrarily high accuracy. This construction may have practical applications as a tool for efficiently converting a mediocre learning algorithm into one that performs extremely well. In addition, the construction has some interesting theoretical consequences, including a set of general upper bounds on the complexity of any strong learning algorithm as a function of the allowed error e.See also: SpringerLinkMachine Learning, 5 (2), 197-227

In ICML-90, pp. 216–224.

Morgan Kaufmann Publishers Inc. San Francisco, CA

Academic Press.

AI Magazine, Fall, pages 32-59, copyright 01990, American Association for Artificial Intelligence.

See also: MIT Press

Oxford University Press

A full book, available for free in PDF form.From the preface:A major problem in artificial intelligence is to endow computers with commonsense knowledge of the world and with the ability to use that knowledge sensibly. A large body of research has studied this problem through careful analysis of typical examples of reasoning in a variety of commonsense domains. The immediate aim of this research is to develop a rich language for expressing commonsense knowledge, and inference techniques for carrying out commonsense reasoning. This book provides an introduction and a survey of this body of research. It is, to the best of my knowledge, the first book to attempt this.The book is designed to be used as a textbook for a one-semester graduate course on knowledge representation.Morgan Kaufmann

In AAAI-90, Vol. 2, pp. 1010–1015.