Related papers: Shape Formation by Programmable Particles
This paper considers the shape formation problem within the 3D hybrid model, where a single agent with a strictly limited viewing range and the computational capacity of a deterministic finite automaton manipulates passive tiles through…
Shape-programmed sheets morph from one surface into another upon activation by stimuli such as illumination, and have attracted much interest for their potential engineering applications, especially in soft robotics. Complex shape changes…
This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…
The plasticity of amorphous solids undergoing shear is characterized by quasi-localized rearrangements of particles. While many models of plasticity exist, the precise relationship between plastic dynamics and the structure of a particle's…
The sliding square model is a widely used abstraction for studying self-reconfigurable robotic systems, where modules are square-shaped robots that move by sliding or rotating over one another. In this paper, we propose a novel distributed…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
Remote measurements and in-situ observations confirm the idea that asteroids up to few hundreds of meters in size might be rubble piles. The dynamics of these objects can be studied using N-body simulations of gravitational aggregation. We…
Design of microparticles which stabilize at the centerline of a channel flow when part of a dilute suspension is examined numerically for moderate Reynolds numbers ($10 \le Re \le 80$). Stability metrics for particles with arbitrary shapes…
We use numerical simulations to show how noninteracting hard particles binding to a deformable elastic shell may self-assemble into a variety of linear patterns. This is a result of the nontrivial elastic response to deformations of shells.…
Many forms of programmable matter have been proposed for various tasks. We use an abstract model of self-organizing particle systems for programmable matter which could be used for a variety of applications, including smart paint and…
Given a set R of robots, each one located at different vertices of an infinite regular tessellation graph, we aim to explore the Arbitrary Pattern Formation (APF) problem. Given a multiset F of grid vertices such that |R|=|F|, APF asks for…
We consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are…
A swarm of anonymous oblivious mobile robots, operating in deterministic Look-Compute-Move cycles, is confined within a circular track. All robots agree on the clockwise direction (chirality), they are activated by an adversarial…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
Position representation is crucial for building position-aware representations in Transformers. Existing position representations suffer from a lack of generalization to test data with unseen lengths or high computational cost. We…
The \textsc{Arbitrary Pattern Formation} (\textsc{Apf}) is a widely studied in distributed computing for swarm robots. This problem asks to design a distributed algorithm that allows a team of identical, autonomous mobile robots to form any…
Shape completion is the problem of completing partial input shapes such as partial scans. This problem finds important applications in computer vision and robotics due to issues such as occlusion or sparsity in real-world data. However,…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…
We present local distributed, stochastic algorithms for \emph{alignment} in self-organizing particle systems (SOPS) on two-dimensional lattices, where particles occupy unique sites on the lattice, and particles can make spatial moves to…