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Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists...

In this book, David Temperley addresses a fundamental question about music cognition: how do we extract basic kinds of musical information, such as meter, phrase structure, counterpoint, pitch spelling, harmony, and key from music as we hear it? Taking a computational approach, Temperley develops models for generating these aspects of musical structure. The models he proposes are based on preference rules, which are criteria for evaluating a possible structural analysis of a piece of music. A preference rule system evaluates many possible interpretations and chooses the one that best...

Over the past thirty years nongovernmental organizations (NGOs) have played an increasingly influential role in international negotiations, particularly on environmental issues. NGO diplomacy has become, in the words of one organizer, an "international experiment in democratizing intergovernmental decision making." But there has been little attempt to determine the conditions under which NGOs make a difference in either the process or the outcome of international negotiations. This book presents an analytic framework for the systematic and comparative study of NGO diplomacy in...