Related papers: CADbots: Algorithmic Aspects of Manipulating Progr…
We envision programmable matter as a system of nano-scale agents (called particles) with very limited computational capabilities that move and compute collectively to achieve a desired goal. We use the geometric amoebot model as our…
We aim to develop an algorithm for robots to manipulate novel objects as tools for completing different task goals. An efficient and informative representation would facilitate the effectiveness and generalization of such algorithms. For…
In this paper we describe a method for packing tubes and boxes in containers. Each container is divided into parts (holders) which are allocated to subsets of objects. The method consists of a recursive procedure which, based on a…
We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object…
How best to quantify the information of an object, whether natural or artifact, is a problem of wide interest. A related problem is the computability of an object. We present practical examples of a new way to address this problem. By…
This paper proposes a framework for computational modeling of artistic painting algorithms, inspired by human creative practices. Based on examples from expert artists and from the author's own experience, the paper argues that creative…
Assembling parts into an object is a combinatorial problem that arises in a variety of contexts in the real world and involves numerous applications in science and engineering. Previous related work tackles limited cases with identical unit…
Group theory is a particularly fertile field for the design of practical algorithms. Algorithms have been developed across the various branches of the subject and they find wide application. Because of its relative maturity, computational…
We show the first non-trivial positive algorithmic results (i.e. programs whose output is larger than their size), in a model of self-assembly that has so far resisted many attempts of formal analysis or programming: the planar…
This paper formally proposes a problem about the efficient utilization of the four dimensional space-time. Given a cuboid container, a finite number of rigid cuboid items, and the time length that each item should be continuous baked in the…
Quantum computing is a new model of computation, based on quantum physics. Quantum computers can be exponentially faster than conventional computers for problems such as factoring. Besides full-scale quantum computers, more restricted…
Quantum algorithms are able to solve particular problems exponentially faster than conventional algorithms, when implemented on a quantum computer. However, all demonstrations to date have required already knowing the answer to construct…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
This paper will discuss the role of an artificially-intelligent computer system as critique-based, implicit-organizational, and an inherently necessary device, deployed in synchrony with parallel governmental policy, as a genuine means of…
We investigate approximation algorithms for several fundamental optimization problems on geometric packing. The geometric objects considered are very generic, namely $d$-dimensional convex fat objects. Our main contribution is a versatile…
The Bin Packing Problem involves efficiently packing items into a limited number of bins without exceeding their capacity. In this paper, we try to answer a specific question in this field. Mathematically the combinatorial optimization…
This paper presents several new tractability results for planning based on macros. We describe an algorithm that optimally solves planning problems in a class that we call inverted tree reducible, and is provably tractable for several…
The term programmable matter refers to matter which has the ability to change its physical properties (shape, density, moduli, conductivity, optical properties, etc.) in a programmable fashion, based upon user input or autonomous sensing.…
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…
By combining well-known techniques from both noncommutative algebra and computational commutative algebra, we observe that an algorithmic approach can be applied to the study of irreducible representations of finitely presented algebras. In…