Related papers: Characterizing Universal Reconfigurability of Modu…
Nonuniform motion constraints are ubiquitous in robotic applications. Geofencing control is one such paradigm where the motion of a robot must be constrained within a predefined boundary. This paper addresses the problem of stabilizing a…
We investigate the problem of assembling general shapes and patterns in a model in which particles move based on uniform external forces until they encounter an obstacle. While previous work within this model of assembly has focused on…
We study the perfect matching reconfiguration problem: Given two perfect matchings of a graph, is there a sequence of flip operations that transforms one into the other? Here, a flip operation exchanges the edges in an alternating cycle of…
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often…
We consider algorithmic problems motivated by modular robotic reconfiguration in the sliding square model, in which we are given $n$ square-shaped modules in a (labeled or unlabeled) start configuration and need to find a schedule of…
This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…
Motivated by advances is nanoscale applications and simplistic robot agents, we look at problems based on using a global signal to move all agents when given a limited number of directional signals and immovable geometry. We study a model…
We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop…
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…
Given a graph and two vertex sets satisfying a certain feasibility condition, a reconfiguration problem asks whether we can reach one vertex set from the other by repeating prescribed modification steps while maintaining feasibility. In…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
We study a model of programmable matter systems consisting of $n$ devices lying on a 2-dimensional square grid, which are able to perform the minimal mechanical operation of rotating around each other. The goal is to transform an initial…
Given a graph $G$ and two independent sets of $G$, the independent set reconfiguration problem asks whether one independent set can be transformed into the other by moving a single vertex at a time, such that at each intermediate step we…
In unlabeled multi-robot motion planning several interchangeable robots operate in a common workspace. The goal is to move the robots to a set of target positions such that each position will be occupied by some robot. In this paper, we…
In the problem of multi-robot motion planning, a group of robots, placed in a polygonal domain with obstacles, must be moved from their starting positions to a set of target positions. We consider the specific case of unlabeled disc robots…
The selection of mobility modes for robot navigation consists of various trade-offs. Snake robots are ideal for traversing through constrained environments such as pipes, cluttered and rough terrain, whereas bipedal robots are more suited…
We study the problem of deciding reconfigurability of target sets of a graph. Given a graph $G$ with vertex thresholds $\tau$, consider a dynamic process in which vertex $v$ becomes activated once at least $\tau(v)$ of its neighbors are…
This paper proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a designed steady-state motion of the desired shape emerges…
We consider the theoretical model of Crystalline robots, which have been introduced and prototyped by the robotics community. These robots consist of independently manipulable unit-square atoms that can extend/contract arms on each side and…
The sliding square model is a widely used abstraction for studying self-reconfigurable robotic systems, where modules are square-shaped robots that move by sliding or rotating over one another. In this paper, we propose a novel distributed…