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9 WHICH ALGORITHM TO CHOOSE With the variety of existing sensor-based approaches and algorithms, one is entitled to ask a question: How do I choose the right sensor-based planning algorithm for my job When addressing this question, we can safely exclude the Class 1 algorithms: For the reasons mentioned above, except in very special cases, they are of little use in practice As to Class 2, while usually different algorithms from this group produce different paths, one would be hard-pressed to recommend one of them over the others As we have seen above, if in a given scene algorithm A performs better than algorithm B, their luck may reverse in the next scene For example, in the scene shown in Figures 315 and 321, algorithm VisBug-21 outperforms algorithm VisBug-22, and then the opposite happens in the scene shown in Figure 323.

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One is left with an impression that when used with more advanced sensing, like vision and range nders, in terms of their motion planning skills just about any algorithm will do, as long as it guarantees convergence Some people like the concept of a benchmark example for comparing different algorithms In our case this would be, say, a xed benchmark scene with a xed pair of start and target points Today there is no such benchmark scene, and it is doubtful that a meaningful benchmark could be established For example, the elaborate labyrinth in Figure 311 turns out to be very easy for the Bug2 algorithm, whereas the seemingly simpler scene in Figure 36 makes the same algorithm produce a torturous path It is conceivable that some other algorithm would have demonstrated an exemplary performance in the scene of Figure 3.

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6, only to look less brave in another scene Adding vision tends to smooth algorithms idiosyncracies and to make different algorithms behave more similarly, especially in real-life scenes with relatively simple obstacles, but the said relationship staysRelated: Interleaved 2 of 5 Generator VBNET , NET WinForms Code 39 Generation , Create UPC-A NET WinForms.

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Location Aided Knowledge Extraction Routing for Mobile Ad Hoc Networks (LAKER) [33]. his protocol minimizes the network overhead during the route discovery process by decreasing the zonal area in which route request packets are forwarded. During this process, LAKER extracts knowledge of the nodal density distribution of the network and remember a series of important locations on the path to the destination. These locations are named guiding routes, and with the help of these guiding routes the route discovery process is narrowed down. ROUTING PROTOCOLS. Draw Bar Code In VS .NET Using Barcode maker for .NET .Related: .NET EAN-13 Generating , QR Code Generation VB.NET , Create UPC-A Word

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control channel (BCCH) Denso QR Bar Code Maker In Visual Using Barcode generator for VS NET Control to generate, create R Code image in Visual Studio NET applications Description Base-station to mobile only Carries information about the cell con guration (number of frequencies, number of paging slots, etc) of a particular base station Transmitted in timeslot 0 of four consecutive frames starting with a frame numbered 2, 12, 22, 32, 42 modulo 51 Base-station to mobile only Used to send paging messages to mobiles; a paging message is a request for the mobile to access the network (for example, for an incoming call) Base-station to mobile only Used to assign the mobile a dedicated channel in response to a mobile accessing the base station Once a dedicated channel has been set up, a dialogue can occur between the mobile and base station Base-station to mobile only.

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Used to transmit miscellaneous information, usually of a network-speci c nature, such as dialing codes to which cheaper call rates apply Mobile to base station only Used by the mobile to request access to the network, for example, to originate a call or in response to a paging message Both directions This is a low-rate (just under 800 bps) channel that is used for the initial phase of call setup (authentication, ciphering, call setup message, etc), SMS transmission and for network accesses that are not user-initiated (for example, location updating) Both directions This is a high-rate (13 kbps) channel that is used for the duration of a call to transfer encoded speech or user data Both directions This is a low-rate ( 400 bps) channel that is used mainly for the transmission of surrounding cell information while the mobile is using a TCH or SDCCH.

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