Related papers: Traversability, Reconfiguration, and Reachability …
Reconfigurable computing refers to the use of processors, such as Field Programmable Gate Arrays (FPGAs), that can be modified at the hardware level to take on different processing tasks. A reconfigurable computing platform describes the…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
3D object reconfiguration encompasses common robot manipulation tasks in which a set of objects must be moved through a series of physically feasible state changes into a desired final configuration. Object reconfiguration is challenging to…
Interactions between agents are usually designed from a global viewpoint. However, the implementation of a multi-agent interaction is distributed. This difference can introduce issues. For instance, it is possible to specify protocols from…
We study the problem of learning a generalizable action policy for an intelligent agent to actively approach an object of interest in an indoor environment solely from its visual inputs. While scene-driven or recognition-driven visual…
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…
Given a graph $G$ and two independent sets of same size, the Independent Set Reconfiguration Problem under token sliding ask whether one can, in a step by step manner, transform the first independent set into the second one. In each step we…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
We study several decision problems for counter systems with guards defined by convex polyhedra and updates defined by affine transformations. In general, the reachability problem is undecidable for such systems. Decidability can be achieved…
Reachability for piecewise affine systems is known to be undecidable, starting from dimension $2$. In this paper we investigate the exact complexity of several decidable variants of reachability and control questions for piecewise affine…
With the ubiquity of large-scale graph data in a variety of application domains, querying them effectively is a challenge. In particular, reachability queries are becoming increasingly important, especially for containment, subsumption, and…
We study two well-known reconfiguration problems. Given a start and a target configuration of geometric objects in a polygon, we wonder whether we can move the objects from the start configuration to the target configuration while avoiding…
Two key challenges within Reinforcement Learning involve improving (a) agent learning within environments with sparse extrinsic rewards and (b) the explainability of agent actions. We describe a curious subgoal focused agent to address both…
Hamilton Jacobi (HJ) Reachability is a formal verification tool widely used in robotic safety analysis. Given a target set as unsafe states, a dynamical system is guaranteed not to enter the target under the worst-case disturbance if it…
Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
We consider the verification of distributed systems composed of an arbitrary number of asynchronous processes. Processes are identical finite-state machines that communicate by reading from and writing to a shared memory. Beyond the…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
One of the most basic, longstanding open problems in the theory of dynamical systems is whether reachability is decidable for one-dimensional piecewise affine maps with two intervals. In this paper we prove that for injective maps, it is…
We present the first results on the parameterized complexity of reconfiguration problems, where a reconfiguration version of an optimization problem $Q$ takes as input two feasible solutions $S$ and $T$ and determines if there is a sequence…