Related papers: Atlasing of Assembly Landscapes using Distance Geo…

To safely traverse non-flat terrain, robots must account for the influence of terrain shape in their planned motions. Terrain-aware motion planners use an estimate of the vehicle roll and pitch as a function of pose, vehicle suspension, and…

This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals design for humans. Essentially, the method generates an Assembly Task Sequence Graph (ATSG) by recognizing a graphical…

Existing symmetry discovery methods predominantly focus on global transformations across the entire system or space, but they fail to consider the symmetries in local neighborhoods. This may result in the reported symmetry group being a…

Assembly theory (AT) quantifies selection using the assembly equation and identifies complex objects that occur in abundance based on two measurements, assembly index and copy number, where the assembly index is the minimum number of…

We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties.…

We present an anytime algorithm that generates a collision-free configuration-space path that closely follows a desired path in task space, according to the discrete Frechet distance. By leveraging tools from computational geometry, we…

Many path planning algorithms are based on sampling the state space. While this approach is very simple, it can become costly when the obstacles are unknown, since samples hitting these obstacles are wasted. The goal of this paper is to…

The integration of large language models (LLMs) with external tools has significantly expanded the capabilities of AI agents. However, as the diversity of both LLMs and tools increases, selecting the optimal model-tool combination becomes a…

Many remarkably robust, rapid and spontaneous self-assembly phenomena in nature can be modeled geometrically starting from a collection of rigid bunches of spheres. This paper highlights the role of symmetry in sphere-based assembly…

This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a…

Approximate computing is an emerging paradigm for developing highly energy-efficient computing systems such as various accelerators. In the literature, many libraries of elementary approximate circuits have already been proposed to simplify…

Alternating structure-adapted proximal (ASAP) gradient algorithm (M. Nikolova and P. Tan, SIAM J Optim, 29:2053-2078, 2019) has drawn much attention due to its efficiency in solving nonconvex nonsmooth optimization problems. However, the…

Approximate Bayes Computations (ABC) are used for parameter inference when the likelihood function of the model is expensive to evaluate but relatively cheap to sample from. In particle ABC, an ensemble of particles in the product space of…

We design fast deterministic algorithms for distance computation in the congested clique model. Our key contributions include: -- A $(2+\epsilon)$-approximation for all-pairs shortest paths in $O(\log^2{n} / \epsilon)$ rounds on unweighted…

Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…

In many models for large-scale computation, decomposition of the problem is key to efficient algorithms. For distance-related graph problems, it is often crucial that such a decomposition results in clusters of small diameter, while the…

With rapid advances in network hardware, far memory has gained a great deal of traction due to its ability to break the memory capacity wall. Existing far memory systems fall into one of two data paths: one that uses the kernel's paging…

Traditional problems in computational geometry involve aspects that are both discrete and continuous. One such example is nearest-neighbor searching, where the input is discrete, but the result depends on distances, which vary continuously.…

This work studies path planning in two-dimensional space, in the presence of polygonal obstacles. We specifically address the problem of building a roadmap graph, that is, an abstract representation of all the paths that can potentially be…

Methods for reconstructing the topology of complex networks from time-resolved observations of node dynamics are gaining relevance across scientific disciplines. Of biggest practical interest are methods that make no assumptions about…