From rajeev@CS.Stanford.EDU Mon Jul 14 13:55:19 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 NAA08432 for ; Mon, 14 Jul 1997 13:55:19 -0700 (PDT) Received: (from rajeev@localhost) by Sunburn.Stanford.EDU (8.8.4/8.8.4) id NAA03046; Mon, 14 Jul 1997 13:55:09 -0700 (PDT) Date: Mon, 14 Jul 97 13:55:08 PDT From: Rajeev Motwani To: kavraki@cs.rice.edu, latombe@CS.Stanford.EDU Subject: [Hal Gabow : JCSS submission] Message-ID: Content-Length: 4329 Status: RO --------------- 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 LAA23261 for ; Mon, 14 Jul 1997 11:03:40 -0700 (PDT) Received: from piper.cs.colorado.edu (piper.cs.Colorado.EDU [128.138.236.20]) by CS.Stanford.EDU (8.8.6/8.8.6) with ESMTP id LAA16261 for ; Mon, 14 Jul 1997 11:03:47 -0700 (PDT) Received: from localhost (hal@localhost) by piper.cs.colorado.edu (8.8.6/8.8.6) with SMTP id MAA06473; Mon, 14 Jul 1997 12:02:43 -0600 (MDT) Date: Mon, 14 Jul 1997 12:02:43 -0600 (MDT) From: Hal Gabow To: pragh@watson.ibm.com cc: rajeev@CS.Stanford.EDU Subject: JCSS submission Message-ID: MIME-Version: 1.0 Content-Type: MULTIPART/MIXED; BOUNDARY="2008776050-851401618-868903089=:6451" Content-ID: Content-Length: 3305 This message is in MIME format. The first part should be readable text, while the remaining parts are likely unreadable without MIME-aware tools. Send mail to mime@docserver.cac.washington.edu for more info. --2008776050-851401618-868903089=:6451 Content-Type: TEXT/PLAIN; CHARSET=US-ASCII Content-ID: Hi, Prabhaker, Attached is a referee's report on your J.CSS submission. The report is positive. Please revise the paper taking the referee's suggestions into account, along with any other changes you see fit, and forward three copies to me at your earliest convenience. If possible a brief summary of the changes made will be helpful. Thanks for your patience, Hal Gabow --2008776050-851401618-868903089=:6451 Content-Type: TEXT/PLAIN; CHARSET=US-ASCII; NAME=report Content-Transfer-Encoding: BASE64 Content-ID: Content-Description: report DQpSZXZpZXcgb2YgS2F2cmFraSwgTGF0b21iZSwgTW90d2FuaSwgYW5kIFJh Z2hhdmFuOg0KUmFuZG9taXplZCBRdWVyeSBQcm9jZXNzaW5nIGluIFJvYm90 IFBhdGggUGxhbm5pbmcNCg0KRm9yIEpvdXJuYWwgb2YgQ29tcHV0ZXIgYW5k IFN5c3RlbSBTY2llbmNlIA0KDQotLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0t LS0tLS0tLS0NCg0KVGhpcyBwYXBlciBwcm92aWRlcyBhbiBlbGVnYW50IGV4 cGxhbmF0aW9uIG9mIHRoZSBvYnNlcnZlZCBzdWNjZXNzIG9mDQphbiBhbGdv cml0aG0ga25vd24gYXMgUmFuZG9taXplZCBQYXRoIFBsYW5uaW5nLiAgSXQg bWlnaHQgYmUgYmV0dGVyDQp0aXRsZWQ6IEV4cGxhaW5pbmcgdGhlIEVmZmVj dGl2ZW5lc3Mgb2YgUmFuZG9taXplZCBQcmVwcm9jZXNzaW5nIGZvcg0KUm9i b3QgUGF0aCBQbGFubmluZy4gIFRoZSBhdXRob3JzIHByb3Bvc2UgYW5kIHBy b3ZlIHNldmVyYWwgbmV3DQpyZXN1bHRzIGJhc2VkIG9uIGEgdm9sdW1ldHJp YyBhbmFseXNpcyBvZiBjb25maWd1cmF0aW9uIHNwYWNlLg0KDQpUaGUgcGFw ZXIgaXMgYW4gaW1wb3J0YW50IGNvbnRyaWJ1dGlvbiwgZXh0cmVtZWx5IHdl bGwtd3JpdHRlbiwgYW5kDQpJIGhpZ2hseSByZWNvbW1lbmQgaXRzIHB1Ymxp Y2F0aW9uLiAgQSBmZXcgY29tbWVudHM6ICANCg0KVGhlIGFuYWx5c2lzIHNl ZW1zIHRvIGFzc3VtZSBhIHVuaWZvcm0gZGlzdHJpYnV0aW9uIG9mIHF1ZXJp ZXMuICBJZg0Kc28sIGNhbiB0aGlzIGJlIHN0YXRlZCBleHBsaWNpdGx5IGFu ZCBkaXNjdXNzZWQ/DQoNCkkgd291bGQgbGlrZSB0byBzZWUgbW9yZSBvbiBo b3cgdG8gcmVtb3ZlIGN1c3BzIGFuZCB0YW5nZW5jeSBwb2ludHMgKHANCjUp IGFzIHRoaXMgaXMgbm90IGFkZXF1YXRlbHkgY292ZXJlZCBieSB0aGUgKHZl cnkgY2xldmVyISkgbXVsdGktcGF0aA0KZXh0ZW5zaW9uIGluIHNlY3Rpb24g NS4yLiAgSW4gcGFydGljdWxhciwgaG93IGNhbiB3ZSBkZXRlY3QgYW5kDQoi cmVtb3ZlIiBzdWNoIHJlZ2lvbnMgaW4gYSBoaWdoLWRpbWVuc2lvbmFsIGNv bmZpZ3VyYXRpb24gc3BhY2U/ICBJDQpzdXNwZWN0IHRoYXQgdGhlc2UgcmVn aW9ucyAod2hlcmUgb2Z0ZW4gd2hlcmUgcGFydHMgYXJlIGFsbW9zdCBpbg0K Y29udGFjdCkgbWF5IGJlIHVuYXZvaWRhYmxlIGZvciBwcm9ibGVtcyBzdWNo IGFzIGRpc2Fzc2VtYmx5L2Fzc2VtYmx5DQpwbGFubmluZy4gIA0KDQpJcyB0 aGVyZSBhbnkgaG9wZSBmb3IgYSBoeWJyaWQgcGxhbm5lcjogZWcsIGNvdWxk IGEgdm9yb25vaSBkaWFncmFtIGJlDQpmb3VuZCBpbiByZWdpb25zIG9mIGxv dyBlLWdvb2RuZXNzPyAgQ291bGQgd2UgY2hhcmFjdGVyaXplL2JvdW5kDQpl LWdvb2RuZXNzIGJhc2VkIG9uIGlucHV0IGdlb21ldHJ5IGFuZCByb2JvdCBr aW5lbWF0aWNzPw0KDQpXaGF0IGlzIHRoZSByZWxhdGlvbiBiZXR3ZWVuIGUt Z29vZG5lc3MgYW5kIHNhZmV0eT8NCg0KSSdkIGxpa2UgdG8gc2VlIG1vcmUg b24gaW1wbGljYXRpb25zIGZvciBhcnQgZ2FsbGVyeSBwcm9ibGVtczogIGZv cg0KZXhhbXBsZSwgY291bGQgdGhlcmUgYmUgYSByZWxhdGlvbiBiZXR3ZWVu IHRoZSBleHRlbmRlZCBkZWZpbml0aW9uDQooZSx0KSBnb29kbmVzcyBhbmQg Z2FsbGVyaWVzIHdpdGggdCBtaXJyb3JzPw0KDQpUaGUgZGF0ZSBpbiByZWZl cmVuY2UgMTMgaXMgbWlzc2luZy4NCg== --2008776050-851401618-868903089=:6451-- From rajeev@CS.Stanford.EDU Mon Jul 28 13:49:47 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 NAA10219 for ; Mon, 28 Jul 1997 13:49:47 -0700 (PDT) Received: (from rajeev@localhost) by Sunburn.Stanford.EDU (8.8.4/8.8.4) id NAA18122 for latombe@cs; Mon, 28 Jul 1997 13:49:41 -0700 (PDT) Date: Mon, 28 Jul 97 13:49:41 PDT From: Rajeev Motwani To: latombe@CS.Stanford.EDU Subject: referee report Message-ID: Content-Length: 2403 Status: RO I enclose the referee report for our invited paper in JCSS. Lydia and I have revised the paper and sent it off for being published. I enclose the new tex file in the next message. Rajeev Date: Mon, 14 Jul 1997 12:02:43 -0600 (MDT) From: Hal Gabow To: pragh@watson.ibm.com cc: rajeev@CS.Stanford.EDU Subject: JCSS submission Attached is a referee's report on your J.CSS submission. The report is positive. Please revise the paper taking the referee's suggestions into account, along with any other changes you see fit, and forward three copies to me at your earliest convenience. If possible a brief summary of the changes made will be helpful. Thanks for your patience, Hal Gabow --------------------------------- Review of Kavraki, Latombe, Motwani, and Raghavan: Randomized Query Processing in Robot Path Planning For Journal of Computer and System Science --------------------------------- This paper provides an elegant explanation of the observed success of an algorithm known as Randomized Path Planning. It might be better titled: Explaining the Effectiveness of Randomized Preprocessing for Robot Path Planning. The authors propose and prove several new results based on a volumetric analysis of configuration space. The paper is an important contribution, extremely well-written, and I highly recommend its publication. A few comments: The analysis seems to assume a uniform distribution of queries. If so, can this be stated explicitly and discussed? I would like to see more on how to remove cusps and tangency points (p 5) as this is not adequately covered by the (very clever!) multi-path extension in section 5.2. In particular, how can we detect and "remove" such regions in a high-dimensional configuration space? I suspect that these regions (where often where parts are almost in contact) may be unavoidable for problems such as disassembly/assembly planning. Is there any hope for a hybrid planner: eg, could a voronoi diagram be found in regions of low e-goodness? Could we characterize/bound e-goodness based on input geometry and robot kinematics? What is the relation between e-goodness and safety? I'd like to see more on implications for art gallery problems: for example, could there be a relation between the extended definition (e,t) goodness and galleries with t mirrors? The date in reference 13 is missing.