Related papers: Motion planning with pull moves
This article studies the problem of modifying the action ordering of a plan in order to optimise the plan according to various criteria. One of these criteria is to make a plan less constrained and the other is to minimize its parallel…
Robot manipulators operating in uncertain and non-convex environments present significant challenges for safe and optimal motion planning. Existing methods often struggle to provide efficient and formally certified collision risk…
This article presents a technique for proving problems hard for classes of the polynomial hierarchy or for PSPACE. The rationale of this technique is that some problem restrictions are able to simulate existential or universal quantifiers.…
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…
We give both efficient algorithms and hardness results for reconfiguring between two connected configurations of modules in the hexagonal grid. The reconfiguration moves that we consider are "pivots", where a hexagonal module rotates around…
The causal graph of a planning instance is an important tool for planning both in practice and in theory. The theoretical studies of causal graphs have largely analysed the computational complexity of planning for instances where the causal…
We address the classical knapsack problem and a variant in which an upper bound is imposed on the number of items that can be selected. We show that appropriate combinations of rounding techniques yield novel and powerful ways of rounding.…
Assembly planning is a fundamental problem in robotics and automation, which involves designing a sequence of motions to bring the separate constituent parts of a product into their final placement in the product. Assembly planning is…
Using the notion of visibility representations, our paper establishes a new property of instances of the Nondeterministic Constraint Logic (NCL) problem (a PSPACE-complete problem that is very convenient to prove the PSPACE-hardness of…
We examine the computational complexity of testing and finding small plans in probabilistic planning domains with both flat and propositional representations. The complexity of plan evaluation and existence varies with the plan type sought;…
We analyze the computational complexity of optimally playing the two-player board game Push Fight, generalized to an arbitrary board and number of pieces. We prove that the game is PSPACE-hard to decide who will win from a given position,…
We characterize boundedness and compactness of pullback operators under holomorphic maps between Bargmann spaces of entire holomorphic functions with quadratic strictly plurisubharmonic exponential weights, extending a result of…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…
This manuscript explores novel complexity results for the feasibility problem over $p$-order cones, extending the foundational work of Porkolab and Khachiyan. By leveraging the intrinsic structure of $p$-order cones, we derive refined…
We prove that it is NP-hard to decide whether two points in a polygonal domain with holes can be connected by a wire. This implies that finding any approximation to the shortest path for a long snake amidst polygonal obstacles is NP-hard.…
Loco-manipulation is a key capability for legged robots to perform practical mobile manipulation tasks, such as transporting and pushing objects, in real-world environments. However, learning robust loco-manipulation skills remains…
Computational docking methods can provide structural models of protein-protein complexes, but protein backbone flexibility upon association often thwarts accurate predictions. In recent blind challenges, medium or high accuracy models were…
We study the verification of distributed systems where processes are finite automata with access to a shared pool of locks. We consider objectives that are boolean combinations of local regular constraints. We show that the problem,…