Related papers: Self-Stabilizing Self-Assembly
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
In this paper, we work in a 2D version of the probabilistic variant of Winfree's abstract Tile Assembly Model defined by Chandran, Gopalkrishnan and Reif (SICOMP 2012) in which attaching tiles are sampled uniformly with replacement. First,…
In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…
Self-assembly in natural and synthetic molecular systems can create complex aggregates or materials whose properties and functionality rises from their internal structure and molecular arrangement. The key microscopic features that control…
Self-assembly is ubiquitous in nature, particularly in biology, where it underlies the formation of protein quaternary structure and protein aggregation. Quaternary structure assembles deterministically and performs a wide range of…
Maintaining system stability and accurate position tracking is imperative in networked robotic systems, particularly for haptics-enabled human-robot interaction. Recent literature has integrated human biomechanics into the stabilizers…
Multifarious assembly models consider multiple structures assembled from a shared set of components, reflecting the efficient usage of components in biological self-assembly. These models are subject to a high-dimensional parameter space,…
Structural stability is a necessary condition for successful construction of an assembly. However, designing a stable assembly requires a non-trivial effort since a slight variation in the design could significantly affect the structural…
An elastic rod, straight in its undeformed state, has a mass attached at one end and a variable length, due to a constraint at the other end by a frictionless sliding sleeve. The constraint is arranged with the sliding direction parallel to…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
Inspired by the quest for shape-shifting structures in a range of applications, we show how to create morphable structural materials using a neutrally stable unit cell as a building block. This unit cell is a self-stressed hinged structure…
Multiscale techniques have been widely shown to potentially overcome the limitation of homogenization schemes in representing the microscopic failure mechanisms in heterogeneous media as well as their influence on their structural response…
Growing soft materials which follow a 3D path in space are critical to applications such as search and rescue and minimally invasive surgery. Here, we present a concept for a single-input growing multi-stable soft material, based on a…
Many small bodies in the solar system are believed to be rubble piles, a collection of smaller elements separated by voids. We propose a model for the structure of a self-gravitating rubble pile. Static friction prevents its elements from…
We prove a result which strongly hints at the computational weakness of a model of tile assembly that has so far resisted many attempts of formal analysis or positive constructions. Specifically, we prove that, in Winfree's abstract Tile…
Self-stabilization is a versatile approach to fault-tolerance since it permits a distributed system to recover from any transient fault that arbitrarily corrupts the contents of all memories in the system. Byzantine tolerance is an…
Stability is arguably one of the core concepts upon which our understanding of dynamical and control systems has been built. The related notion of incremental stability, however, has received much less attention until recently, when it was…
The paper analyzes the mechanisms of the individual-machine and also its advantages in TSA. Based on the critical-machine monitoring of the original system trajectory, it is clarified that the individual-machine strictly follows the machine…
Biological systems often involve the self-assembly of basic components into complex and function- ing structures. Artificial systems that mimic such processes can provide a well-controlled setting to explore the principles involved and also…
Falls affect a growing number of the population each year. Clinical methods to identify those at greatest risk for falls usually evaluate individuals while they perform specific motions such as balancing or Sit-to-Stand (STS). Unfortunately…