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Programmable Matter (PM) has been widely investigated in recent years. It refers to some kind of matter with the ability to change its physical properties (e.g., shape or color) in a programmable way. One reference model is certainly…
The concept of programmable matter envisions a very large number of tiny and simple robot particles forming a smart material. Even though the particles are restricted to local communication, local movement, and simple computation, their…
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…
The amoebot model abstracts active programmable matter as a collection of simple computational elements called amoebots that interact locally to collectively achieve tasks of coordination and movement. Since its introduction at SPAA 2014, a…
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.…
In this paper, we propose composable part-based manipulation (CPM), a novel approach that leverages object-part decomposition and part-part correspondences to improve learning and generalization of robotic manipulation skills. By…
We consider programmable matter consisting of simple computational elements, called particles, that can establish and release bonds and can actively move in a self-organized way, and we investigate the feasibility of solving fundamental…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
Active matter physics and swarm robotics have provided powerful tools for the study and control of ensembles driven by internal sources. At the macroscale, controlling swarms typically utilizes significant memory, processing power, and…
In the arbitrary pattern formation problem, $n$ autonomous, mobile robots must form an arbitrary pattern $P \subseteq \mathbb{R}^2$. The (deterministic) robots are typically assumed to be indistinguishable, disoriented, and unable to…
Combining multiple machine learning models has long been a technique for enhancing performance, particularly in distributed settings. Traditional approaches, such as model ensembles, work well, but are expensive in terms of memory and…
This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic causal model for predicting the behavior generated by modern percept-driven robot plans. PHAMs represent aspects of robot behavior that cannot be represented by…
Over three decades of scientific endeavors to realize programmable matter, a substance that can change its physical properties based on user input or responses to its environment, there have been many advances in both the engineering of…
Shape formation is a basic distributed problem for systems of computational mobile entities. Intensively studied for systems of autonomous mobile robots, it has recently been investigated in the realm of programmable matter. Namely, it has…
Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…
Addressing a fundamental problem in programmable matter, we present the first deterministic algorithm to elect a unique leader in a system of connected amoebots assuming only that amoebots are initially contracted. Previous algorithms…
Autonomous mobile service robots, like lawnmowers or cleaning robots, operating in human-populated environments need to reason about local human-human interactions to support safe and socially aware navigation while fulfilling their tasks.…
Accurate human motion prediction is crucial for safe human-robot collaboration but remains challenging due to the complexity of modeling intricate and variable human movements. This paper presents Parallel Multi-scale Incremental Prediction…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…