Related papers: Motion planning with pull moves
Despite seminal advances in reinforcement learning in recent years, many domains where the rewards are sparse, e.g. given only at task completion, remain quite challenging. In such cases, it can be beneficial to tackle the task both from…
The computational complexity of the partition, 0-1 subset sum, unbounded subset sum, 0-1 knapsack and unbounded knapsack problems and their multiple variants were studied in numerous papers in the past where all the weights and profits were…
Motion Planning (MP) is a critical challenge in robotics, especially pertinent with the burgeoning interest in embodied artificial intelligence. Traditional MP methods often struggle with high-dimensional complexities. Recently neural…
The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time.…
We show that the Minesweeper game is PP-hard, when the object is to locate all mines with the highest probability. When the probability of locating all mines may be infinitesimal, the Minesweeper game is even PSPACE-complete. In our…
The minimization of makespan in open shop with time lags has been shown NP-hard in the strong sense even for the case of two machines and unit-time operations. The minimization of total completion time however has remained open for that…
In this paper, we present SeGMan, a hybrid motion planning framework that integrates sampling-based and optimization-based techniques with a guided forward search to address complex, constrained sequential manipulation challenges, such as…
This project investigates the potential of computers to solve complex tasks such as games. The paper proves that the complexity of a generalized version of spider solitaire is NP-Complete and uses much of structure of the proof that…
We study two well-known reconfiguration problems. Given a start and a target configuration of geometric objects in a polygon, we wonder whether we can move the objects from the start configuration to the target configuration while avoiding…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
0-1 Knapsack is a fundamental NP-complete problem. In this article we prove that it remains NP-complete even when the weights of the objects in the packing constraints and their values in the objective function satisfy specific stringent…
We prove PSPACE-completeness of Push-1: given a rectangular grid of 1 x 1 cells, each possibly occupied by a movable block, can a robot move from one specified location to another, given the ability to push up to one block at a time? In…
We build a general theory for characterizing the computational complexity of motion planning of robot(s) through a graph of "gadgets", where each gadget has its own state defining a set of allowed traversals which in turn modify the…
We consider a variant of the art gallery problem where all guards are limited to seeing to the right inside a monotone polygon. We call such guards: half-guards. We provide a polynomial-time approximation for point guarding the entire…
In a recent paper, Brusco, K\"ohn and Steinley [Ann. Oper. Res. 206:611-626 (2013)] conjecture that the 2 bins special case of the one-dimensional minimax bin-packing problem with bin size constraints might be solvable in polynomial time.…
We study the classic sliding cube model for programmable matter under parallel reconfiguration in three dimensions, providing novel algorithmic and surprising complexity results in addition to generalizing the best known bounds from two to…
This paper presents an approach for learning motion planners that are accompanied with probabilistic guarantees of success on new environments that hold uniformly for any disturbance to the robot's dynamics within an admissible set. We…
Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We present a physically-simulated human capable of solving box…
We show that packing axis-aligned unit squares into a simple polygon $P$ is NP-hard, even when $P$ is an orthogonal and orthogonally convex polygon with half-integer coordinates. It has been known since the early 80s that packing unit…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…