Related papers: Motion planning with pull moves
When modeling physical properties of molecules with machine learning, it is desirable to incorporate $SO(3)$-covariance. While such models based on low body order features are not complete, we formulate and prove general completeness…
We study the problem of deciding the winner of reachability switching games for zero-, one-, and two-player variants. Switching games provide a deterministic analogue of stochastic games. We show that the zero-player case is NL-hard, the…
Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact…
We prove that path puzzles with complete row and column information--or equivalently, 2D orthogonal discrete tomography with Hamiltonicity constraint--are strongly NP-complete, ASP-complete, and #P-complete. Along the way, we newly…
Using the notion of contiguity of simplicial maps, we adapt Farber's topological complexity to the realm of simplicial complexes. We show that, for a finite simplicial complex $K$, our discretized concept recovers the topological complexity…
Windows have been introduce in \cite{BalGasq25} as a tool for designing polynomial algorithms to check satisfiability of a bimodal logic of weak-density. In this paper, after revisiting the ``folklore'' case of bimodal $\K4$ already treated…
Physical reasoning is a core aspect of intelligence in animals and humans. A central question is what model should be used as a basis for reasoning. Existing work considered models ranging from intuitive physics and physical simulators to…
Pull-tabbing is an evaluation approach for functional logic computations, based on a graph transformation recently proposed, which avoids making irrevocable non-deterministic choices that would jeopardize the completeness of computations.…
Contact adaption is an essential capability when manipulating objects. Two key contact modes of non-prehensile manipulation are sticking and sliding. This paper presents a Trajectory Optimization (TO) method formulated as a Mathematical…
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…
Motivated by modern parallel computing applications, we consider the problem of scheduling parallel-task jobs with heterogeneous resource requirements in a cluster of machines. Each job consists of a set of tasks that can be processed in…
We give an $\alpha(1+\epsilon)$-approximation algorithm for solving covering LPs, assuming the presence of a $(1/\alpha)$-approximation algorithm for a certain optimization problem. Our algorithm is based on a simple modification of the…
In this manuscript we study properties of multidimensional shifts. More precisely, we study the necessary and sufficient conditions for a shift to be sofic, i.e. the boundary between sofic shifts and effective ones. To this end, we use…
We consider the computational complexity of reconfiguration problems, in which one is given two combinatorial configurations satisfying some constraints, and is asked to transform one into the other using elementary transformations, while…
We provide a world-sheet interpretation to the plane wave limit of a large class of exact supergravity backgrounds in terms of logarithmic conformal field theories. As an illustrative example, we consider the two-dimensional conformal field…
We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…
This paper presents a stochastic/robust nonlinear model predictive control (NMPC) to enhance the robustness of model-based legged locomotion against contact uncertainties. We integrate the contact uncertainties into the covariance…
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focuses on motion planning for a robot that uses nontraditional…
We analyze affine reachability problems in dimensions 1 and 2. We show that the reachability problem for 1-register machines over the integers with affine updates is PSPACE-hard, hence PSPACE-complete, strengthening a result by Finkel et…
We study the computational power of the Full-Tilt model of motion planning, where slidable polyominos are moved maximally around a board by way of a sequence of directional ``tilts.'' We focus on the deterministic scenario in which the…