Related papers: Traversability, Reconfiguration, and Reachability …
Mobile agents research is clearly aiming towards imposing agent based development as the next generation of tools for writing software. This paper comes with its own contribution to this global goal by introducing a novel unifying framework…
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 study the problem of generating a test sequence that achieves maximal coverage for a reactive system under test. We formulate the problem as a repeated game between the tester and the system, where the system state space is partitioned…
Determining the complexity of the reachability problem for vector addition systems with states (VASS) is a long-standing open problem in computer science. Long known to be decidable, the problem to this day lacks any complexity upper bound…
We consider the problem of determining whether a target item assignment can be reached from an initial item assignment by a sequence of pairwise exchanges of items between agents. In particular, we consider the situation where each agent…
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…
We study the so-called dynamic coverage problem by agents located in some topological graph. The agents must visit all regions of interest but they also should stay connected to the base via multi-hop. We prove that the algorithmic…
To interact with daily-life articulated objects of diverse structures and functionalities, understanding the object parts plays a central role in both user instruction comprehension and task execution. However, the possible discordance…
Several planners have been developed to compute dynamically feasible, collision-free robot paths from an initial to a goal configuration. A key assumption in these works is that the goal region is reachable; an assumption that often fails…
Software verification is a complex problem, and verification tools need significant tuning to achieve high performance. Due to this, many verifiers choose to specialize on reachability properties, or invest the time to implement known…
When designing optimal controllers for any system, it is often the case that the true state of the system is unknown to the controller, for example due to noisy measurements or partially observable states. Incomplete state information must…
Traversability illustrates the difficulty of driving through a specific region and encompasses the suitability of the terrain for traverse based on its physical properties, such as slope and roughness, surface condition, etc. In this survey…
Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for…
This work introduces a general formulation of the reconfiguration problem for untimed discrete-event systems (DES), which can be treated directly by supervisory control theory (SCT). To model the reconfiguration requirements we introduce…
This paper introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…
Motivated by advances is nanoscale applications and simplistic robot agents, we look at problems based on using a global signal to move all agents when given a limited number of directional signals and immovable geometry. We study a model…
Piecewise affine maps (PAMs) are frequently used as a reference model to show the openness of the reachability questions in other systems. The reachability problem for one-dimentional PAM is still open even if we define it with only two…
The Achilles heel of classic analog computers was the complex, error prone, and time consuming process of programming. This typically involved manually patching hundreds or even thousands of connections between individual computing elements…
The shape and size of the objects, which we see on the screen, when the application is running, are defined at the design time. By using some sort of adaptive interface, developers give users a chance to resize these objects or on rare…
In many kinds of infinite-state systems, the coverability problem has significantly lower complexity than the reachability problem. In order to delineate the border of computational hardness between coverability and reachability, we propose…