Related papers: Pushing Blocks by Sweeping Lines
In this paper we investigate the problem of order batching for picker routing. Our approach is applicable to warehouses (storage areas) arranged in the standard rectangular grid layout, so with parallel aisles and two or more cross-aisles.…
We propose an algorithm that builds and maintains clusters over a network subject to mobility. This algorithm is fully decentralized and makes all the different clusters grow concurrently. The algorithm uses circulating tokens that collect…
Push-1 is one of the simplest abstract frameworks for motion planning; however, the complexity of deciding if a Push-1 problem can be solved was a several-decade-old open question. We resolve the complexity of the motion planning problem…
We investigate the mathematics behind unshuffles, a type of card shuffle closely related to classical perfect shuffles. To perform an unshuffle, deal all the cards alternately into two piles and then stack the one pile on top of the other.…
We study the block-coordinate forward-backward algorithm in which the blocks are updated in a random and possibly parallel manner, according to arbitrary probabilities. The algorithm allows different stepsizes along the block-coordinates to…
Learning to act in unstructured environments, such as cluttered piles of objects, poses a substantial challenge for manipulation robots. We present a novel neural network-based approach that separates unknown objects in clutter by selecting…
In the modular robot reconfiguration problem, we are given $n$ cube-shaped modules (or robots) as well as two configurations, i.e., placements of the $n$ modules so that their union is face-connected. The goal is to find a sequence of moves…
To push a vertex $v$ of a directed graph $\overrightarrow{G}$ is to change the orientations of all the arcs incident with $v$. An oriented graph is a directed graph without any cycle of length at most 2. An oriented clique is an oriented…
Extracting shape information from object bound- aries is a well studied problem in vision, and has found tremen- dous use in applications like object recognition. Conversely, studying the space of shapes represented by curves satisfying…
A linear inverse problem is proposed that requires the determination of multiple unknown signal vectors. Each unknown vector passes through a different system matrix and the results are added to yield a single observation vector. Given the…
We describe a new numerical procedure for generating dense packings of disks and spheres inside various geometric shapes. We believe that in some of the smaller cases, these packings are in fact optimal. When applied to the previously…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
Efficient object manipulation strategies have significant impact in automation applications. In this work, the stack rearrangement in tabletop settings is studied, with a focus on augmenting the task planning domain with richer…
We propose a new class of space-filling designs called rotated sphere packing designs for computer experiments. The approach starts from the asymptotically optimal positioning of identical balls that covers the unit cube. Properly scaled,…
Suppose that two independent sets $I$ and $J$ of a graph with $\vert I \vert = \vert J \vert$ are given, and a token is placed on each vertex in $I$. The Sliding Token problem is to determine whether there exists a sequence of independent…
In a recent paper, a new method was proposed to find the common invariant subspaces of a set of matrices. This paper invstigates the more general problem of putting a set of matrices into block triangular or block-diagonal form…
We consider several extensions of the fractional bin packing problem, a relaxation of the traditional bin packing problem where the objects may be split across multiple bins. In these extensions, we introduce load-balancing constraints…
Spatial pooling has been proven highly effective in capturing long-range contextual information for pixel-wise prediction tasks, such as scene parsing. In this paper, beyond conventional spatial pooling that usually has a regular shape of…
We revisit the planning problem in the blocks world, and we implement a known heuristic for this task. Importantly, our implementation is biologically plausible, in the sense that it is carried out exclusively through the spiking of…
We consider the sequential allocation of $m$ balls (jobs) into $n$ bins (servers) by allowing each ball to choose from some bins sampled uniformly at random. The goal is to maintain a small gap between the maximum load and the average load.…