Related papers: Satisfiability Modulo Theory based Methodology for…
This paper investigates two related optimal input selection problems for fixed (non-switched) and switched structured systems. More precisely, we consider selecting the minimum cost of inputs from a prior set of inputs, and selecting the…
This work proposes a framework that generates and optimally selects task-specific assembly configurations for a large group of homogeneous modular aerial systems, explicitly enforcing bounds on inter-module downwash. Prior work largely…
In the contexts of automated reasoning (AR) and formal verification (FV), important decision problems are effectively encoded into Satisfiability Modulo Theories (SMT). In the last decade efficient SMT solvers have been developed for…
Supernumerary robotic limbs (SRLs) offer substantial potential in both the rehabilitation of hemiplegic patients and the enhancement of functional capabilities for healthy individuals. Designing a general-purpose SRL device is inherently…
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…
This paper proposes an algorithm to find robust reliability-based topology optimized designs under a random-field material model. The initial design domain is made of linear elastic material whose property, i.e., Young's modulus, is modeled…
We present a novel approach to solving the floorplanning problem by leveraging fine-tuned Large Language Models (LLMs). Inspired by subitizing--the human ability to instantly and accurately count small numbers of items at a glance--we…
This paper introduces the notion of upper-linearizable/quadratizable functions, a class that extends concavity and DR-submodularity in various settings, including monotone and non-monotone cases over different convex sets. A general…
Practical quantum advantage is expected to depend on fault-tolerant quantum computing, although the architectural overhead needed to support fault tolerance is still extremely high. Prior FTQC designs generally emphasize either fast…
Modularity in robotics holds great potential. In principle, modular robots can be disassembled and reassembled in different robots, and possibly perform new tasks. Nevertheless, actually exploiting modularity is yet an unsolved problem:…
Modular architectures are a promising approach to scaling quantum computers to fault tolerance. Small, low-noise quantum processors connected through relatively noisy quantum links are capable of fault-tolerant operation as long as the…
Constraint answer set programming is a promising research direction that integrates answer set programming with constraint processing. It is often informally related to the field of satisfiability modulo theories. Yet, the exact formal link…
We present a new approach for the design of a synthetic biological circuit whose behaviour is specified in terms of signal temporal logic (STL) formulae. We first show how to characterise with STL formulae the input/output behaviour of…
The solution-space structure of the 3-Satisfiability Problem (3-SAT) is studied as a function of the control parameter alpha (ratio of number of clauses to the number of variables) using numerical simulations. For this purpose, one has to…
Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…
Satisfiability Modulo Theories (SMT) refers to the problem of deciding the satisfiability of a formula with respect to certain background first order theories. In this paper, we focus on Satisfiablity Modulo Integer Arithmetic, which is…
Ultra Deep-Sub-Micron CMOS chips have to function correctly and reliably, not only during their early post-fabrication life, but also for their entire life span. In this paper, we present an architectural-level in-field repair technique.…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
We consider algorithmic problems motivated by modular robotic reconfiguration in the sliding square model, in which we are given $n$ square-shaped modules in a (labeled or unlabeled) start configuration and need to find a schedule of…