Related papers: Motion planning with pull moves
The Searchlight Scheduling Problem was first studied in 2D polygons, where the goal is for point guards in fixed positions to rotate searchlights to catch an evasive intruder. Here the problem is extended to 3D polyhedra, with the guards…
We study the warehouse problem, arising in the area of inventory management and production planning. Here, a merchant wants to decide an optimal trading policy that computes quantities of a single commodity to purchase, store and sell…
The growing integration of mobile robots in shared workspaces requires efficient path planning and coordination between the agents, accounting for safety and productivity. In this work, we propose a digital model-based optimization…
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…
We investigate the reconfiguration of $n$ blocks, or "tokens", in the square grid using "line pushes". A line push is performed from one of the four cardinal directions and pushes all tokens that are maximum in that direction to the…
This paper applies techniques from algebraic and differential geometry to determine how to best pack points in real projective spaces. We present a computer-assisted proof of the optimality of a particular 6-packing in…
We study the problem of deciding whether some PSPACE-complete problems have models of bounded size. Contrary to problems in NP, models of PSPACE-complete problems may be exponentially large. However, such models may take polynomial space in…
Given a neural network, training data, and a threshold, it was known that it is NP-hard to find weights for the neural network such that the total error is below the threshold. We determine the algorithmic complexity of this fundamental…
How can a stack of identical blocks be arranged to extend beyond the edge of a table as far as possible? We consider a generalization of this classic puzzle to blocks that differ in width and mass. Despite the seemingly simple premise, we…
We define a new, partizan, loopy combinatorial game, Forced-Capture Hnefatafl, similar to Hnefatafl, except that players are forced to make capturing moves when available. We show that this game is PSPACE-hard using a reduction from…
In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are…
Multi-robot motion planning is a hard problem. We investigate restricted variants of the problem where square robots are allowed to slide over an arbitrary curve to a new position only a constant number of times each. We show that the…
We consider the model of parametrized asynchronous shared-memory pushdown systems, as introduced in [Hague'11]. In a series of recent papers it has been shown that reachability in this model is PSPACE-complete [Esparza, Ganty, Majumdar'13]…
Many real-world robotic operations that involve high-dimensional humanoid robots require fast-reaction to plan disturbances and probabilistic guarantees over collision risks, whereas most probabilistic motion planning approaches developed…
We propose a robust dynamic walking controller consisting of a dynamic locomotion planner, a reinforcement learning process for robustness, and a novel whole-body locomotion controller (WBLC). Previous approaches specify either the position…
Mixed packing and covering problems are problems that can be formulated as linear programs using only non-negative coefficients. Examples include multicommodity network flow, the Held-Karp lower bound on TSP, fractional relaxations of set…
This paper formally proposes a problem about the efficient utilization of the four dimensional space-time. Given a cuboid container, a finite number of rigid cuboid items, and the time length that each item should be continuous baked in the…
Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve…
Recently, NLP models have achieved remarkable progress across a variety of tasks; however, they have also been criticized for being not robust. Many robustness problems can be attributed to models exploiting spurious correlations, or…
Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However,…