Related papers: Motion planning with pull moves
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the…
We prove PSPACE-completeness of the well-studied pushing-block puzzle Push-1F, a theoretical abstraction of many video games (introduced in 1999). The proof also extends to Push-$k$ for any $k \ge 2$. We also prove PSPACE-completeness of…
It is known that the satisfiability problems of the product logics K4xS5 and S4xS5 are NEXPTIME-hard and that the satisfiability problem of the logic SSL of subset spaces is PSPACE-hard. We improve these lower bounds for the complexity of…
This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…
We encode a compact Lie group action on a compact manifold by the Sullivan model of its Borel construction. We then prove that deciding whether this action is almost free is NP-hard.
We consider the following motion-planning problem: we are given $m$ unit discs in a simple polygon with $n$ vertices, each at their own start position, and we want to move the discs to a given set of $m$ target positions. Contrary to the…
We prove that a particular pushing-blocks puzzle is intractable in 2D, improving an earlier result that established intractability in 3D [OS99]. The puzzle, inspired by the game *PushPush*, consists of unit square blocks on an integer…
Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…
Consider a scheduling problem in which jobs need to be processed on a single machine. Each job has a weight and is composed of several operations belonging to different families. The machine needs to perform a setup between the processing…
Packing and vehicle routing problems play an important role in the area of supply chain management. In this paper, we introduce a non-linear knapsack problem that occurs when packing items along a fixed route and taking into account travel…
We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…
This paper introduces the Packing While Traveling problem as a new non-linear knapsack problem. Given are a set of cities that have a set of items of distinct profits and weights and a vehicle that may collect the items when visiting all…
We upgrade [1] to a complete proof of the conjecture NP = PSPACE. [1]: L. Gordeev, E. H. Haeusler, Proof Compression and NP Versus PSPACE, Studia Logica (107) (1): 55-83 (2019)
The aim in packing problems is to decide if a given set of pieces can be placed inside a given container. A packing problem is defined by the types of pieces and containers to be handled, and the motions that are allowed to move the pieces.…
In this paper, we address efficiently and robustly collecting objects stored in different trays using a mobile manipulator. A resolution complete method, based on precomputed reachability database, is proposed to explore collision-free…
The exploration-exploitation trade-off is at the heart of reinforcement learning (RL). However, most continuous control benchmarks used in recent RL research only require local exploration. This led to the development of algorithms that…
In this paper, we seek to provide a simpler proof that the relocation problem in Ricochet Robots (Lunar Lockout with fixed geometry) is PSPACE-complete via a reduction from Finite Function Generation (FFG). Although this result was…
In this paper we generalize the discrete r-homotopy to the discrete (s, r)-homotopy. Then by this notion, we introduce the discrete motion planning for robots which can move discreetly. Moreover, in this case the number of motion planning,…
The subject logic in computer science should entail proof theoretic applications. So the question arises whether open problems in computational complexity can be solved by advanced proof theoretic techniques. In particular, consider the…
To determine the 3D conformation of proteins is a necessity to understand their functions or interactions with other molecules. It is commonly admitted that, when proteins fold from their primary linear structures to their final 3D…