Related papers: Connected Assembly and Reconfiguration by Finite A…
When considering motion planning for a swarm of $n$ labeled robots, we need to rearrange a given start configuration into a desired target configuration via a sequence of parallel, collision-free robot motions. The objective is to reach the…
We investigate the capacity attainable for a multiuser MIMO uplink as we scale both array size and bandwidth for regimes in which all-digital arrays incur excessive hardware complexity and power consumption. We consider a tiled hybrid…
In this work, we develop a fully implicit Hybrid High-Order algorithm for the Cahn-Hilliard problem in mixed form. The space discretization hinges on local reconstruction operators from hybrid polynomial unknowns at elements and faces. The…
In general, there is a mismatch between a finite element model {(FEM)} of a structure and its real behaviour. In aeronautics, this mismatch must be small because {FEM}s are a fundamental part of the development of an aircraft and of…
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of…
We prove a Pumping Lemma for the noncooperative abstract Tile Assembly Model, a model central to the theory of algorithmic self-assembly since the beginning of the field. This theory suggests, and our result proves, that small differences…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
We investigate computational issues in the distributed model Amoebots of programmable matter. In this model, the computational entities, called particles, are anonymous finite-state machines that operate and move on an hexagonal tasselation…
Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first…
Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple,…
In this work, we study the design and analysis of a novel hybrid high-order (HHO) method on unfitted meshes. HHO methods rely on a pair of unknowns, combining polynomials attached to the mesh faces and the mesh cells. In the unfitted…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
In micro- and nano-scale systems, particles can be moved by using an external force like gravity or a magnetic field. In the presence of adhesive particles that can attach to each other, the challenge is to decide whether a shape is…
The emerging field of passive macro-scale tile-based self-assembly (TBSA) shows promise in enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, current TBSA methodologies still do not fulfill their…
Recently, a class of mechanical lattices with reconfigurable, zero-stiffness structures has been proposed, called Totimorphic lattices. In this work, we introduce a computational framework that enables continuous reprogramming of a…
In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
The main objective of this study is to propose a methodology to build a parametric linear model of Flexible Multibody Systems for control design. This approach uses a combined Finite Element - State Space Approach based on component modes…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Majumder, Reif and Sahu have presented a stochastic model of reversible, error-permitting, two-dimensional tile self-assembly, and showed that restricted classes of tile assembly systems achieved equilibrium in (expected) polynomial time.…