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Shape assembly composes complex shapes geometries by arranging simple part geometries and has wide applications in autonomous robotic assembly and CAD modeling. Existing works focus on geometry reasoning and neglect the actual physical…
This paper proposes an algorithmic framework for various reconfiguration problems using zero-suppressed binary decision diagrams (ZDDs), a data structure for families of sets. In general, a reconfiguration problem checks if there is a…
In the $15$-puzzle game, $15$ labeled square tiles are reconfigured on a $4\times 4$ board through an escort, wherein each (time) step, a single tile neighboring it may slide into it, leaving the space previously occupied by the tile as the…
This work introduces a moving anchor acceleration technique to extragradient algorithms for smooth structured minimax problems. The moving anchor is introduced as a generalization of the original algorithmic anchoring framework, i.e. the…
The smooth heap is a recently introduced self-adjusting heap [Kozma, Saranurak, 2018] similar to the pairing heap [Fredman, Sedgewick, Sleator, Tarjan, 1986]. The smooth heap was obtained as a heap-counterpart of Greedy BST, a binary search…
This paper presents a modular in-pipeline climbing robot with a novel compliant foldable OmniCrawler mechanism. The circular cross-section of the OmniCrawler module enables a holonomic motion to facilitate the alignment of the robot in the…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
RecentadvancesinDistributedComputinghighlightmodelsandalgo- rithms for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade algorithms…
Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…
Packing optimization is a prevalent problem that necessitates robust and efficient algorithms that are also simple to implement. One group of approaches is the raster methods, which rely on approximating the objects with pixelated…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact manipulation as a partially observable Markov decision process…
Separated graphs provide a powerful combinatorial tool for approximating dynamical systems. This paper details the explicit construction of Bratteli-like separated graphs -- a generalization of classical Bratteli diagrams -- that encode the…
The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…
We propose an adaptive smoothing algorithm based on Nesterov's smoothing technique in \cite{Nesterov2005c} for solving "fully" nonsmooth composite convex optimization problems. Our method combines both Nesterov's accelerated proximal…
In this paper, we propose a unified framework for sampling, clustering and embedding data points in semi-metric spaces. For a set of data points $\Omega=\{x_1, x_2, \ldots, x_n\}$ in a semi-metric space, we consider a complete graph with…
Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…
Several discrete geometry problems are equivalent to estimating the size of the largest homogeneous sets in graphs that happen to be the union of few comparability graphs. An important observation for such results is that if $G$ is an…
We study the problem of planning paths for $p$ distinguishable pebbles (robots) residing on the vertices of an $n$-vertex connected graph with $p \le n$. A pebble may move from a vertex to an adjacent one in a time step provided that it…
Since the invention of the pairing heap by Fredman, Sedgewick, Sleator, and Tarjan, it has been an open question whether this or any other simple "self-adjusting" heap supports decrease-key operations in $O(\log\log n)$ time, where $n$ is…