Related papers: CADbots: Algorithmic Aspects of Manipulating Progr…
Trimming is a core technique in geometric modeling. Unfortunately, the resulting objects do not take the requirements of numerical simulations into account and yield various problems. This paper outlines principal issues of trimmed models…
Defining abstract algorithmic structures like functions and variables using self-made tangibles can enhance the usability and affordability of the tangible programming experience by maintaining the input modality and physical interaction…
We study the computational complexity theory of smooth, finite-dimensional dynamical systems. Building off of previous work, we give definitions for what it means for a smooth dynamical system to simulate a Turing machine. We then show that…
In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…
Iterative algorithms aimed at solving some problems are discussed. For certain problems, such as finding a common point in the intersection of a finite number of convex sets, there often exist iterative algorithms that impose very little…
This paper is motivated by periodic data transmission in autonomous cars. We considered periodic tasks (with different periods) on one or several machines. After reviewing the literature on the subject, we managed to generalize a result of…
We empirically evaluate the finite-time performance of several simulation-optimization algorithms on a testbed of problems with the goal of motivating further development of algorithms with strong finite-time performance. We investigate if…
We would like robots to achieve purposeful manipulation by placing any instance from a category of objects into a desired set of goal states. Existing manipulation pipelines typically specify the desired configuration as a target 6-DOF pose…
This thesis presents novel algorithms to advance robotic object rearrangement, a critical task for autonomous systems in applications like warehouse automation and household assistance. Addressing challenges of high-dimensional planning,…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
The advantages of mixed approach with using different kinds of programming techniques for symbolic manipulation are discussed. The main purpose of approach offered is merge the methods of object oriented programming that convenient for…
Previous parallel sorting algorithms do not scale to the largest available machines, since they either have prohibitive communication volume or prohibitive critical path length. We describe algorithms that are a viable compromise and…
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…
Until now, Computer Scientists have concerned themselves with identifying efficient algorithms for solving the general case of some problem -- that is finding one which performs well when the size of the input tends to infinity. In this…
Paper cutting is a simple process of slicing large rolls of paper, jumbo-reels, into various sub-rolls with variable widths based on demands risen by customers. Since the variability is high due to collected various orders into a pool, the…
Several problems in modeling and control of stochastically-driven dynamical systems can be cast as regularized semi-definite programs. We examine two such representative problems and show that they can be formulated in a similar manner. The…
We focus on the problem of designing an artificial agent (AI), capable of assisting a human user to complete a task. Our goal is to guide human users towards optimal task performance while keeping their cognitive load as low as possible.…
We propose a space-efficient algorithm for hidden surface removal that combines one of the fastest previous algorithms for that problem with techniques based on bit manipulation. Such techniques had been successfully used in other settings,…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
In product design, a decomposition of the overall product function into a set of smaller, interacting functions is usually considered a crucial first step for any computer-supported design tool. Here, we propose a new approach for the…