Related papers: Motion planning with pull moves
Micro- and nanorobots are often controlled by global input signals, such as an electromagnetic or gravitational field. These fields move each robot maximally until it hits a stationary obstacle or another stationary robot. This paper…
Recent work in deep reinforcement learning (RL) has produced algorithms capable of mastering challenging games such as Go, chess, or shogi. In these works the RL agent directly observes the natural state of the game and controls that state…
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present…
Robustness is a correctness notion for concurrent programs running under relaxed consistency models. The task is to check that the relaxed behavior coincides (up to traces) with sequential consistency (SC). Although computationally simple…
We consider the $n\times n$ game of Phutball. It is shown that, given an arbitrary position of stones on the board, it is a PSPACE-hard problem to determine whether the specified player can win the game, regardless of the opponent's choices…
Differentiable physics enables efficient gradient-based optimizations of neural network (NN) controllers. However, existing work typically only delivers NN controllers with limited capability and generalizability. We present a practical…
This paper proves that arrangement of music is NP-hard when subject to various constraints: avoiding musical dissonance, limiting how many notes can be played simultaneously, and limiting transition speed between chords. These results imply…
We study a robust extensible bin packing problem with budgeted uncertainty, under a budgeted uncertainty model where item sizes are defined to lie in the intersection of a box with a one-norm ball. We propose a scenario generation algorithm…
Dense packing in pick-and-place systems is an important feature in many warehouse and logistics applications. Prior work in this space has largely focused on planning algorithms in simulation, but real-world packing performance is often…
We study the computational complexity of scheduling jobs on a single speed-scalable processor with the objective of capturing the trade-off between the (weighted) flow time and the energy consumption. This trade-off has been extensively…
Production and inventory planning have become crucial and challenging in nowadays competitive industrial and commercial sectors, especially when multiple plants or warehouses are involved. In this context, this paper addresses the…
We establish sharp upper bounds for the topological complexity of motion planning problem in spaces with small fundamental group, i.e. when it is finite of small order or has small cohomological dimension.
Various forms of sorting problems have been studied over the years. Recently, two kinds of sorting puzzle apps are popularized. In these puzzles, we are given a set of bins filled with colored units, balls or water, and some empty bins.…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper presents a data-driven approach to identifying soft…
We prove that two pushing-blocks puzzles are intractable in 2D. One of our constructions improves an earlier result that established intractability in 3D [OS99] for a puzzle inspired by the game PushPush. The second construction answers a…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
The min-knapsack problem with compactness constraints extends the classical knapsack problem, in the case of ordered items, by introducing a restriction ensuring that they cannot be too far apart. This problem has applications in…
Given a system model where machines have distinct speeds and power ratings but are otherwise compatible, we consider various problems of scheduling under resource constraints on the system which place the restriction that not all machines…
This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…