1. On manuscript (ms.) p. 31, last line on the page: In this sentence, does "it" refer to Kavaraki's algorithms, or those described here? It seems that I haven't kept the manuscript with the same format as the one I sent to IJRR. So the page numbers in my copy are slightly different from yours. I guess you are referring to the sentence "It is worth noticing that the algorithms ... except that IT uses ..." In this sentence "it" refers to the "implemented planner". Perhaps a better sentence would be "It is worth noticing ... except that this implemented planner ..." 2. On ms. p. 33, line 9: In this sentence, does "it" refer to algorithm just above, or the one from Section 3.2? For the same reason as above, I am not sure which sentence you refer to, but I believe that it is "Another difference between ... at Step 1(b)ii." In this sentence "it" refers to the algorithm just above. 3. On ms. p. 52, in the Acknowledgments: "a MURI grant of the Army" is cited. Is "U.S. Army" meant? If other, please specify. Actually MURI appears twice in the acknowledgments. The first occurrence should be "... was supported by MURI grant DAAH04-96-1-0007 (U.S. Army)." The second occurrence should be "Lydia Kavraki and Jean-Claude Latombe are partially supported by ARPA ... and MURI grant DAAH04-96-1-0007." No need to repeat "U.S. Army" in the second one. 4. For the References section: a) For the first and fifth references listed: Is the author's name "Ahuactzin Larios," as in the first reference, or just "Ahuactizin," as in the fifth? It's Ahuactzin. b) For Arya and Mount 1995, who is the publisher of this proceedings, and in what city are they located? Vancouver, Canada. c) For Bessiere et al 1995, the city of publication is Wellesley; is the state Massachusetts? Yes, it is Massachusetts. d) For Challou and Gini 1995, what is the city of publication for IEEE? It is Nagoya, Japan. e) For Graux et al. 1992: Does "Exp." stand for "Exposition"? I believe so. f) For Halperin et al. 1996: This was slated to appear in 1996; has it been published? Can you update the information, such as the publication date? Halperin, D., Latombe, J.C., and Motwani, R. 1997. Dynamic Maintenance of Kinematic Structures. Algorithms for Robotic Motion and Manipulation, ed. J.P. Laumond and M. Overmars, Wellesley, MA:A.K. Peters, pp.~155-170. g) For Joseph and Plantiga 1985, who is the publisher of this proceedings, and what is their location? Baltimore. h) For Kavraki, what is the year of this report? (From the report number, it appear to be 1995--is that correct?) Should this be called a Technical Report? This is Kavraki's PhD thesis published as technical Report STAN-CS-TR-95-1535, in 1995. i) For Kavraki et al. 1994, is this a Technical Report? Yes, it is a Technical Report. j) For Kavraki et al. 1995, what is the city of publication for ACM? Las Vegas, Nevada. k) For Reif 1979, is the page range 421-427? Yes. l) For Sekhavat et al. 1995, does this Techical Report have an identifying number? The number is 96007. Despite this number the year is 1995. m) For Zhu and Gupta 1993, does this Techical Report have an identifying number? None that I know. From lclark@cape.com Wed Jul 23 07:55:46 1997 Received: from Sunburn.Stanford.EDU (Sunburn.Stanford.EDU [171.64.67.178]) by robotics.Stanford.EDU (8.8.5/8.8.5) with ESMTP id HAA07600 for ; Wed, 23 Jul 1997 07:55:46 -0700 (PDT) Received: from CS.Stanford.EDU (CS.Stanford.EDU [171.64.64.64]) by Sunburn.Stanford.EDU (8.8.4/8.8.4) with ESMTP id HAA14908 for ; Wed, 23 Jul 1997 07:55:42 -0700 (PDT) Received: from jazz.cape.com (root@postoffice.cape.com [204.107.252.13]) by CS.Stanford.EDU (8.8.6/8.8.6) with ESMTP id HAA16261 for ; Wed, 23 Jul 1997 07:33:00 -0700 (PDT) Received: from [140.186.62.132] (tsa-132.cape.com [140.186.62.132]) by jazz.cape.com (8.8.5/8.6.10) with SMTP id KAA03719 for ; Wed, 23 Jul 1997 10:29:31 -0400 Date: Wed, 23 Jul 1997 10:29:31 -0400 Message-Id: Mime-Version: 1.0 Content-Type: text/plain; charset="us-ascii" To: latombe@CS.Stanford.EDU From: lclark@cape.com (lisa clark) Subject: Your article in IJRR Content-Length: 2176 Status: RO Dear Dr. Latombe: I have completed the copyediting of International Journal of Robotics Research 16.6 (December 1997), including your article, "A Random Sampling Scheme for Path Planning." The queries that I promised in my earlier note are listed below. Feel free to respond to them by number, if you'd rather not copy each query. 1. On manuscript (ms.) p. 31, last line on the page: In this sentence, does "it" refer to Kavaraki's algorithms, or those described here? 2. On ms. p. 33, line 9: In this sentence, does "it" refer to algorithm just above, or the one from Section 3.2? 3. On ms. p. 52, in the Acknowledgments: "a MURI grant of the Army" is cited. Is "U.S. Army" meant? If other, please specify. 4. For the References section: a) For the first and fifth references listed: Is the author's name "Ahuactzin Larios," as in the first reference, or just "Ahuactizin," as in the fifth? b) For Arya and Mount 1995, who is the publisher of this proceedings, and in what city are they located? c) For Bessiere et al 1995, the city of publication is Wellesley; is the state Massachusetts? d) For Challou and Gini 1995, what is the city of publication for IEEE? e) For Graux et al. 1992: Does "Exp." stand for "Exposition"? f) For Halperin et al. 1996: This was slated to appear in 1996; has it been published? Can you update the information, such as the publication date? g) For Joseph and Plantiga 1985, who is the publisher of this proceedings, and what is their location? h) For Kavraki, what is the year of this report? (From the report number, it appear to be 1995--is that correct?) Should this be called a Technical Report? i) For Kavraki et al. 1994, is this a Technical Report? j) For Kavraki et al. 1995, what is the city of publication for ACM? k) For Reif 1979, is the page range 421-427? l) For Sekhavat et al. 1995, does this Techical Report have an identifying number? m) For Zhu and Gupta 1993, does this Techical Report have an identifying number? Can you possibly e-mail your responses in the next day or so? My e-mail address is lclark@cape.com. Should you have any questions or concerns, please don't hesitate to contact me. Thank you, Lisa Clark