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.. Plate-forme-expérimentale and .. De-viterbi, 44 II.11 Comparaison des étiquettes obtenues par une séquence 46 II.12 Scores obtenus avec et sans découpage d'états, 48 II.13 Scores obtenus avec modèle des observations aléatoire (RSM) et, p.49

.. Un-exemple-de-réseau-bayésien-dynamique, 53 III.2 Version simplifiée du modèle de Markov caché défini précédemment, p.55

H. Indépendance-non-modélisable-dans-le-cadre, 56 III.5 Variables observables supplémentaires, 57 III.6 Représentation des variables supplémentaires dans le cadre HMM : on est obligé de les cacher et donc de s'en priver lors de l'utilisation du HMM . . . . . . . . . . . . . 57

A. Général, E. Pour-des-dbns, and .. , 65 III.10 Sommation simple des 72 III.11 Sommation pondérée par le nombre de mises-à-jour lors de l'apprentissage . . . . . 73 III.12 Sommation pondérée binairement 74 III.13 Rackham : Un RWI B21R modifié pour faire guide de musée, 75 III.14 Illustration des distances de sécurité utilisées par ND (la zone de sécurité 2 est définie en fonction de la vitesse maximale du robot, la zone 1 en fonction de la distance de sécurité), p.76

E. 'un, 95 IV.7 Transformation d'une variable cachée classique en une variable cachée synchronisée par s, p.98