Related papers: Partially Directed Snake Polyominoes
We study the scale function, space of directions and scale-multiplicative semigroups for restricted Burger-Mozes groups. We relate these general notions to intrinsic properties of the group. Among other things, we give a formula for the…
We consider directed weighted graphs and define various families of path counting functions. Our main results are explicit formulas for the main term of the asymptotic growth rate of these counting functions, under some irrationality…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…
In most of today's exactly solved classes of polyominoes, either all members are convex (in some way), or all members are directed, or both. If the class is neither convex nor directed, the exact solution uses to be elusive. This paper is…
Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to…
The enumeration of lattice paths in wedges poses unique mathematical challenges. These models are not translationally invariant, and the absence of this symmetry complicates both the derivation of a functional recurrence for the generating…
This work regards the order polytopes arising from the class of generalized snake posets and their posets of meet-irreducible elements. Among generalized snake posets of the same rank, we characterize those whose order polytopes have…
We develop a numerical scheme to determine which planar snake motions are optimal for locomotory efficiency, across a wide range of frictional parameter space. For a large coefficient of transverse friction, we find that retrograde…
We determine analytically the form of optimal snake locomotion when the coefficient of transverse friction is large, the typical regime for biological and robotic snakes. We find that the optimal snake motion is a retrograde traveling wave,…
In this paper we propose a method for computing the contour of an object in an image using a snake represented as a subdivision curve. The evolution of the snake is driven by its control points which are computed minimizing an energy that…
In this note, we study a family of polynomials that appear naturally when analysing the characteristic functions of the one-dimensional elephant random walk. These polynomials depend on a memory parameter $p$ attached to the model. For…
Directed paths have been used extensively in the scientific literature as a model of a linear polymer. Such paths models in particular the conformational entropy of a linear polymer and the effects it has on the free energy. These directed…
Snake states are open trajectories for charged particles propagating in two dimensions under the influence of a spatially varying perpendicular magnetic field. In the quantum limit they are protected edge modes that separate topologically…
Geodesic tracking on the projective line bundle $\R^2 \times P^1 $ has many uses, including the segmentation of objects in images. However, global tracking requires expensive distance map computations. We provide a practical solution to…
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts'…
Of the vast variety of animal gaits, one of the most striking is the non-planar undulating motion of a sidewinder. But non-planar gaits are not limited to sidewinders. Here we report a new non-planar mode used as an escape strategy in…
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
We introduce the $k$-bonacci polyominoes, a new family of polyominoes associated with the binary words avoiding $k$ consecutive $1$'s, also called generalized $k$-bonacci words. The polyominoes are very entrancing objects, considered in…
Column-convex polyominoes are by now a well-explored model. So far, however, no attention has been given to polyominoes whose columns can have either one or two connected components. This little known kind of polyominoes seems not to be…