Related papers: Pushing Blocks by Sweeping Lines
We address prehensile pushing, the problem of manipulating a grasped object by pushing against the environment. Our solution is an efficient nonlinear trajectory optimization problem relaxed from an exact mixed integer non-linear trajectory…
We consider the problem of reconfiguring a two-dimensional connected grid arrangement of passive building blocks from a start configuration to a goal configuration, using a single active robot that can move on the tiles, remove individual…
The aim in packing problems is to decide if a given set of pieces can be placed inside a given container. A packing problem is defined by the types of pieces and containers to be handled, and the motions that are allowed to move the pieces.…
We consider the following modification of annihilation game called node blocking. Given a directed graph, each vertex can be occupied by at most one token. There are two types of tokens, each player can move his type of tokens. The players…
We introduce a new family of one-player games, involving the movement of coins from one configuration to another. Moves are restricted so that a coin can be placed only in a position that is adjacent to at least two other coins. The goal of…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
The classical Maker-Breaker positional game is played on a board which is a hypergraph $\mathcal{H}$, with two players, Maker and Breaker, alternately claiming vertices of $\mathcal{H}$ until all the vertices are claimed. When the game…
Micro- and nanorobots are often controlled by global input signals, such as an electromagnetic or gravitational field. These fields move each robot maximally until it hits a stationary obstacle or another stationary robot. This paper…
A problem that arises in drawings of transportation networks is to minimize the number of crossings between different transportation lines. While this can be done efficiently under specific constraints, not all solutions are visually…
We study dense packings of a large number of congruent non-overlapping circles inside a square by looking for configurations which maximize the packing density, defined as the ratio between the area occupied by the disks and the area of the…
Given a graph where every vertex has exactly one labeled token, how can we most quickly execute a given permutation on the tokens? In (sequential) token swapping, the goal is to use the shortest possible sequence of swaps, each of which…
Inspired by a common technique for shuffling a deck of cards on a table without riffling, we continue the study of a prequel paper on the pile shuffle and its capabilities as a sorting device. We study two sort feasibility problems of…
We study a family of sorting match puzzles on grids, which we call permutation match puzzles. In this puzzle, each row and column of a $n \times n$ grid is labeled with an ordering constraint -- ascending (A) or descending (D) -- and the…
How can a stack of identical blocks be arranged to extend beyond the edge of a table as far as possible? We consider a generalization of this classic puzzle to blocks that differ in width and mass. Despite the seemingly simple premise, we…
We prove PSPACE-completeness of all but one problem in a large space of pulling-block problems where the goal is for the agent to reach a target destination. The problems are parameterized by whether pulling is optional, the number of…
Let $S$ be a connected graph which contains an induced path of $n-1$ vertices, where $n$ is the order of $S.$ We consider a puzzle on $S$. A configuration of the puzzle is simply an $n$-dimensional column vector over $\{0, 1\}$ with…
Self-stabilizing distributed control is often modeled by token abstractions. A system with a single token may implement mutual exclusion; a system with multiple tokens may ensure that immediate neighbors do not simultaneously enjoy a…
The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time.…
The Number Rotation Puzzle (NRP) is a combination puzzle in which the goal is to rearrange a scrambled rectangular grid of numbers back into order via moves that consist of rotating square blocks of numbers of fixed size. Over all possible…
A great number of robotics applications demand the rearrangement of many mobile objects, e.g., organizing products on shelves, shuffling containers at shipping ports, reconfiguring fleets of mobile robots, and so on. To boost the throughput…