Related papers: Motion planning with pull moves
We analyze the computational complexity of problems related to case-based planning: planning when a plan for a similar instance is known, and planning from a library of plans. We prove that planning from a single case has the same…
We investigate algorithmic control of a large swarm of mobile particles (such as robots, sensors, or building material) that move in a 2D workspace using a global input signal (such as gravity or a magnetic field). We show that a maze of…
Trajectory planning under kinodynamic constraints is fundamental for advanced robotics applications that require dexterous, reactive, and rapid skills in complex environments. These constraints, which may represent task, safety, or actuator…
We study here several variants of the covariates fine balance problem where we generalize some of these problems and introduce a number of others. We present here a comprehensive complexity study of the covariates problems providing…
We define a new class of pushdown systems where the pushdown is a tree instead of a word. We allow a limited form of lookahead on the pushdown conforming to a certain ordering restriction, and we show that the resulting class enjoys a…
Long-horizon task and motion planning (TAMP) is notoriously difficult to solve, let alone optimally, due to the tight coupling between the interleaved (discrete) task and (continuous) motion planning phases, where each phase on its own is…
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher…
Learning a robot motor skill from scratch is impractically slow; so much so that in practice, learning must be bootstrapped using a good skill policy obtained from human demonstration. However, relying on human demonstration necessarily…
We prove that a countably compact space is monotonically retractable if and only if it has a full retractional skeleton. In particular, a compact space is monotonically retractable if and only if it is Corson. This gives an answer to a…
Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…
Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. Existing methods combining sampling-based planners with trajectory optimization produce…
The problem of finding the maximum-weight, planar subgraph of a finite, simple graph with nonnegative real edge weights is well known in industrial and electrical engineering, systems biology, sociology and finance. As the problem is known…
The problem of scheduling non-simultaneously released jobs with due dates on a single machine with the objective to minimize the maximum job lateness is known to be strongly NP-hard. Here we consider an extended model in which the…
Loco-manipulation demands coordinated whole-body motion to manipulate objects effectively while maintaining locomotion stability, presenting significant challenges for both planning and control. In this work, we propose a whole-body model…
Kill-all Go is a variant of Go in which Black tries to capture all white stones, while White tries to survive. We consider computational complexity of Kill-all Go with two rulesets, Chinese rules and Japanese rules. We prove that: (i)…
We consider a memory allocation problem that can be modeled as a version of bin packing where items may be split, but each bin may contain at most two (parts of) items. A 3/2-approximation algorithm and an NP-hardness proof for this problem…
We show that \emph{Sorting by Strip Swaps} (SbSS) is NP-hard by a polynomial reduction of \emph{Block Sorting}. The key idea is a local gadget, a \emph{cage}, that replaces every decreasing adjacency $(a_i,a_{i+1})$ by a guarded triple…
We consider the product knapsack problem, which is the variant of the classical 0-1 knapsack problem where the objective consists of maximizing the product of the profits of the selected items. These profits are allowed to be positive or…
Building on the results published in arxiv:2004.12849 we present a general framework for demonstrating the NP-hardness of satisfying many genres of loop and path puzzles using a 'T-metacell' gadget. We then use this to prove the…
A stochastic PDE, describing mesoscopic fluctuations in systems of weakly interacting inertial particles of finite volume, is proposed and analysed in any finite dimension $d\in\mathbb{N}$. It is a regularised and inertial version of the…