Related papers: Hardness of Reconfiguring Robot Swarms with Unifor…
The aim in packing problems is to decide if a given set of pieces can be placed inside a given container. A packing problem is defined by the types of pieces and containers to be handled, and the motions that are allowed to move the pieces.…
The pulse-noise approach to systems of classical spins weakly interacting with the bath has been applied to study thermally-activated escape of magnetic nanoparticles over the uniform and nonuniform energy barriers at intermediate and low…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…
Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…
Mutually repelling particles form spontaneously ordered clusters when forced into confinement. The clusters may adopt similar spatial arrangements even if the underlying particle interactions are contrastingly different. Here we demonstrate…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Consider an agent traversing a graph of "gadgets", each with local state that changes with each traversal by the agent. We characterize the complexity of universal traversal, where the goal is to traverse every gadget at least once, for DAG…
The aircraft routing problem is one of the most studied problems of operations research applied to aircraft management. It involves assigning flights to aircraft while ensuring regular visits to maintenance bases. This paper examines two…
Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…
The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…
There exists a bijection between the configuration space of a linear pentapod and all points $(u,v,w,p_x,p_y,p_z)\in\mathbb{R}^{6}$ located on the singular quadric $\Gamma: u^2+v^2+w^2=1$, where $(u,v,w)$ determines the orientation of the…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
In collective robotic systems, the automatic generation of controllers for complex tasks is still a challenging problem. Open-ended evolution of complex robot behaviors can be a possible solution whereby an intrinsic driver for pattern…
How do we move a robot efficiently from one position to another? To answer this question, we need to understand its configuration space, a 'map' where we can find every possible position of the robot. Unfortunately, these maps are very…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a…
The gravitation interaction between particles is taken into account in central configuration model. After that, the resonance perturbation of the particle of the central configuration by distant satellite is considered in the restricted…
We investigate algorithmic approaches for targeted drug delivery in a complex, maze-like environment, such as a vascular system. The basic scenario is given by a large swarm of micro-scale particles (''agents'') and a particular target…
In this paper we describe a machine learning based framework for spacecraft swarm trajectory planning. In particular, we focus on coordinating motions of multi-spacecraft in formation flying through passive relative orbit(PRO) transfers.…
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…