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A deterministic finite automaton in which every non-empty set of states occurs as the image of the whole state set under the action of a suitable input word is called completely reachable. It was conjectured that in each completely…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
An infinite structure has the finite length property (over a given field) if, for each of its finite powers, chains of equivariant subspaces in the corresponding free vector space are bounded in length. Prior work showed that the countable…
In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Vine robots are a class of soft continuum robots that grow via tip eversion, allowing them to move their tip without relying on reaction forces from the environment. Constructed from compliant materials such as fabric and thin, flexible…
Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities…
Semi-random processes involve an adaptive decision-maker, whose goal is to achieve some predetermined objective in an online randomized environment. They have algorithmic implications in various areas of computer science, as well as…
Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…
We present a generalised architecture for reactive mobile manipulation while a robot's base is in motion toward the next objective in a high-level task. By performing tasks on-the-move, overall cycle time is reduced compared to methods…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid maps, which do not scale well and suffer from long term…
Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…
In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is beneficial for more efficient global planning. Currently,…
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…
Formal verification of robotic tasks requires a simple yet conformant model of the used robot. We present the first work on generating reachset conformant models for robotic contact tasks considering hybrid (mixed continuous and discrete)…
Algorithms for (nondeterministic) finite-state tree automata (FTAs) are often tested on random FTAs, in which all internal transitions are equiprobable. The run-time results obtained in this manner are usually overly optimistic as most such…
The paper presents a new formal way of modeling and designing reconfigurable robots, in which case the robots are allowed to reconfigure not only structurally but also functionally. We call such kind of robots "self-evolvable", which have…
We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…
We consider the problem of walking in an unknown street, for a robot that has a minimal sensing capability. The robot is equipped with a sensor that only detects the discontinuities in depth information (gaps) and can locate the target…