Related papers: Pushing Blocks by Sweeping Lines
We investigate the utility of employing multiple buffers in solving a class of rearrangement problems with pick-n-swap manipulation primitives. In this problem, objects stored randomly in a lattice are to be sorted using a robot arm with…
A pile-scramble shuffle is one of the most effective shuffles in card-based cryptography. Indeed, many card-based protocols are constructed from pile-scramble shuffles. This article aims to study the power of pile-scramble shuffles. In…
We analyze the computational complexity of optimally playing the two-player board game Push Fight, generalized to an arbitrary board and number of pieces. We prove that the game is PSPACE-hard to decide who will win from a given position,…
The unrestricted block relocation problem is an important optimization problem encountered at terminals, where containers are stored in stacks. It consists in determining the minimum number of container moves so as to empty the considered…
This paper presents a methodology for finding numerically, by means of curve-following, all real solutions of a general system of $n$ nonlinear equations in $n$ unknowns, within a given $n$-dimensional box. The main idea behind our method…
We study the packing of a large number of congruent and non--overlapping circles inside a regular polygon. We have devised efficient algorithms that allow one to generate configurations of $N$ densely packed circles inside a regular polygon…
We study several variations of line segment covering problem with axis-parallel unit squares in $I\!\!R^2$. A set $S$ of $n$ line segments is given. The objective is to find the minimum number of axis-parallel unit squares which cover at…
Linear-scaling electronic-structure techniques, also called O(N) techniques, rely heavily on the multiplication of sparse matrices, where the sparsity arises from spatial cut-offs. In order to treat very large systems, the calculations must…
We focus on multi-object rearrangement planning in densely cluttered environments using a car-like robot pusher. The combination of kinematic, geometric and physics constraints underlying this domain results in challenging nonmonotone…
In this paper we study a combinatorial reconfiguration problem that involves finding an optimal sequence of swaps to move an initial configuration of tokens that are placed on the vertices of a graph to a final desired one. This problem…
We investigate computational issues in the distributed model Amoebots of programmable matter. In this model, the computational entities, called particles, are anonymous finite-state machines that operate and move on an hexagonal tasselation…
We study an elementary problem of topological robotics: rotation of a line, which is fixed by a revolving joint at a base point: one wants to bring the line from its initial position to a final position by a continuous motion in the space.…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
A fork stack is a generalised stack which allows pushes and pops of several items at a time. We consider the problem of determining which input streams can be sorted using a single forkstack, or dually, which permutations of a fixed input…
We introduce the strongly NP-complete pagination problem, an extension of BIN PACKING where packing together two items may make them occupy less volume than the sum of their individual sizes. To achieve this property, an item is defined as…
We study the space requirements of a sorting algorithm where only items that at the end will be adjacent are kept together. This is equivalent to the following combinatorial problem: Consider a string of fixed length n that starts as a…
Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…
In a recent work (arXiv:2207.01954), we showed that a uniformly coupled chain could be symmetrically extended by engineered spin chains in such a way that we could choose part of the spectrum of the overall system. When combined with an…
We study nested partitions of $R^d$ obtained by successive cuts using hyperplanes with fixed directions. We establish the number of measures that can be split evenly simultaneously by taking a partition of this kind and then distributing…
In a topological quantum computer, universal quantum computation is performed by dragging quasiparticle excitations of certain two dimensional systems around each other to form braids of their world lines in 2+1 dimensional space-time. In…