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Acknowledgements

The authors would like to thank the incredible team who together made this book possible.

Contributing Writers

Project Team

To be specific: Cynthia Yeung and Malika Cantor set schedules, organized reviewers, hired contractors, recruited other project members, badgered them to complete their tasks, and did whatever was necessary to get the book done. Tom Galloway proofread all the chapters and made suggestions for improvements. He was particularly helpful in pointing out places to break paragraphs into two separate thoughts. Julie Sussman, P.P.A., read every chapter and provided extensive improvements to content and to layout. In the first two editions we had proofreaders who would tell us when we left out a comma or said which when we meant that; Julie told us when we left out a minus sign or said xi when we meant xj.

Omari Stephens, an expert in both computer science and Adobe Illustrator, created or fixed many of the figures. Tracy Johnson at Pearson was our editor throughout, and got the book into production. Erin Ault and Rose Kernan at Pearson helped with the redesign of the text layout and the conversion of figures to color. The Google Summer of Code project supported students working on the online code and exercises. The mentors listed here contributed code themselves and allowed students to learn and grow. Nick Hay helped with the coding that processed the index files.

Errata

Thanks to the readers who took the time to send in corrections on the errata page: Andrea Rapuzzi, Bora Eryilmaz, Darius Bacon, Noah Topper, Thomas Hickey, and Victor Khaustov.

Previous Editions

Several people who did not participate in this edition made important contributions to previous editions. Jon Barron, Tim Huang, Mark Paskin, and Cynthia Bruyns helped with diagrams and algorithms. John Canny wrote the robotics chapter for the first edition and Sebastian Thrun wrote part of the chapter for the third edition. Douglas Edwards researched the historical notes for the first edition.

Helpful Comments and Suggestions

It takes a global village to make a book. Over 600 people read parts of the book (including previous editions) and made suggestions for improvement. We are grateful to all of them. We hope we have captured all the names here, and apologize to those we inadvertently missed:

Aaron Massey, Abdulrahman Baqais, Adam Dossa, Adam Grupa, Alaa Adel, Alan Fern, Alden Wright, Alec Koumjian, Alessandro Tommasi, Alex Beutel, Alex Franz, Alex Gray, Alex Nguyen, Alexandre Andreatta, Ali Nouri, Allyn Shell, Amir Globerson, Amit Patel, Andreas Stolcke, André Kishimoto, Andy Mayer, Angad, Angie Merryweather, Anil Chakravarthy, Anthony Marakis, Antonis Nasioulas, Anurag kumar jha, Ariel Felner, Ariel Rossanigo, Armando Nania, Armin Galliker, Arnoud Visser, Arthur Nunes-Harwitt, Asma'a El-Budrawy, Austin Tate, B. Dutkowski, Barbara Di Eugenio, Barbara Engelhardt, Barbara Grosz, Barrett Williams, Bart Selman, Bas Terwijn, Ben Kuipers, Bengt Ericsson, Benjamin Kuipers, Bernd Schomburg, Bernd Timmermann, Bernhard Nebel, Bernhard Schlegel, Berthe Choueiry, Bill Arnold, Bill Pringle, Bill Woods, Bill Zhao, Binil Thomas, Bob Futrelle, Bobby D. 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