Related papers: Accelerating Amoebots via Reconfigurable Circuits
Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…
We show that any embedding of a planar graph can be encoded succinctly while efficiently answering a number of topological queries near-optimally. More precisely, we build on a succinct representation that encodes an embedding of $m$ edges…
Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…
We present simple deterministic algorithms for subgraph finding and enumeration in the broadcast CONGEST model of distributed computation: -- For any constant $k$, detecting $k$-paths and trees on $k$ nodes can be done in $O(1)$ rounds. --…
Robots operating in changing environments either predict obstacle changes and/or plan quickly enough to react to them. Predictive approaches require a strong prior about the position and motion of obstacles. Reactive approaches require no…
We present two on-line algorithms for maintaining a topological order of a directed $n$-vertex acyclic graph as arcs are added, and detecting a cycle when one is created. Our first algorithm handles $m$ arc additions in $O(m^{3/2})$ time.…
We revisit the classical problem of computing the \emph{contour tree} of a scalar field $f:\mathbb{M} \to \mathbb{R}$, where $\mathbb{M}$ is a triangulated simplicial mesh in $\mathbb{R}^d$. The contour tree is a fundamental topological…
We study the {\sc Uniform Circle Formation} ({\sc UCF}) problem for a swarm of $n$ autonomous mobile robots operating in \emph{Look-Compute-Move} (LCM) cycles on the Euclidean plane. We assume our robots are \emph{luminous}, i.e. embedded…
Linear model trees are regression trees that incorporate linear models in the leaf nodes. This preserves the intuitive interpretation of decision trees and at the same time enables them to better capture linear relationships, which is hard…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…
We consider a team of $k$ identical, oblivious, asynchronous mobile robots that are able to sense (\emph{i.e.}, view) their environment, yet are unable to communicate, and evolve on a constrained path. Previous results in this weak scenario…
We introduce the Adaptive Massively Parallel Computation (AMPC) model, which is an extension of the Massively Parallel Computation (MPC) model. At a high level, the AMPC model strengthens the MPC model by storing all messages sent within a…
One approach to achieving correct finite element assembly is to ensure that the local orientation of facets relative to each cell in the mesh is consistent with the global orientation of that facet. Rognes et al. have shown how to achieve…
The Arbitrary Pattern Formation problem asks for a distributed algorithm that moves a set of autonomous mobile robots to form any arbitrary pattern given as input. The robots are assumed to be autonomous, anonymous and identical. They…
The Beeping Network (BN) model captures important properties of biological processes. Paradoxically, the extremely limited communication capabilities of such nodes has helped BN become one of the fundamental models for networks. Since in…
We present a deterministic algorithm for solving a wide range of dynamic programming problems in trees in $O(\log D)$ rounds in the massively parallel computation model (MPC), with $O(n^\delta)$ words of local memory per machine, for any…
Learning high-level navigation behaviors has important implications: it enables robots to build compact visual memory for repeating demonstrations and to build sparse topological maps for planning in novel environments. Existing approaches…
We introduce a new concept of a subgraph class called a superbubble for analyzing assembly graphs, and propose an efficient algorithm for detecting it. Most assembly algorithms utilize assembly graphs like the de Bruijn graph or the overlap…
We describe a new sampling-based method to determine cuts in an undirected graph. For a graph (V, E), its cycle space is the family of all subsets of E that have even degree at each vertex. We prove that with high probability, sampling the…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…