Related papers: Traversability, Reconfiguration, and Reachability …
This article is about one feature which was partly introduced 30 years ago with the development of multi windows operating systems. It is about the movability of screen objects not according to some predetermined algorithm but by the direct…
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…
Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…
Plans often change due to changes in the situation or our understanding of the situation. Sometimes, a feasible plan may not even exist, and identifying such infeasibilities is useful to determine when requirements need adjustment. Common…
The notion of forbidden-transition graphs allows for a robust generalization of walks in graphs. In a forbidden-transition graph, every pair of edges incident to a common vertex is permitted or forbidden; a walk is compatible if all pairs…
We study a new modification of the Arrival problem, which allows for nodes that exhibit random as well as controlled behaviour, in addition to switching nodes. We study the computational complexity of these extensions, building on existing…
We study the almost-sure reachability problem in a distributed system obtained as the asynchronous composition of N copies (called processes) of the same automaton (called protocol), that can communicate via a shared register with finite…
Hybrid systems - more precisely, their mathematical models - can exhibit behaviors, like Zeno behaviors, that are absent in purely discrete or purely continuous systems. First, we observe that, in this context, the usual definition of…
Many tasks in computer vision can be cast as a "label changing" problem, where the goal is to make a semantic change to the appearance of an image or some subject in an image in order to alter the class membership. Although successful…
Many research directions in machine learning, particularly in deep learning, involve complex, multi-stage experiments, commonly involving state-mutating operations acting on models along multiple paths of execution. Although machine…
Literature on Constraint Satisfaction exhibits the definition of several structural properties that can be possessed by CSPs, like (in)consistency, substitutability or interchangeability. Current tools for constraint solving typically…
Regular model checking is a well-established technique for the verification of regular transition systems (RTS): transition systems whose initial configurations and transition relation can be effectively encoded as regular languages. In…
A hybrid network is a static (electronic) network that is augmented with optical switches. The Reconfigurable Routing Problem (RRP) in hybrid networks is the problem of finding settings for the optical switches augmenting a static network…
We consider the problem of reconfiguring a set of physical objects into a desired target configuration, a typical (sub)task in robotics and automation, arising in product assembly, packaging, stocking store shelves, and more. In this paper…
Inquiries such as whether a task A depends on a task B, whether an author A has been influenced by a paper B, whether a certain protein is associated with a specific biological process or molecular function, or whether class A inherits from…
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…
Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…
We prove PSPACE-completeness of all but one problem in a large space of pulling-block problems where the goal is for the agent to reach a target destination. The problems are parameterized by whether pulling is optional, the number of…
The recent years have seen remarkable progress in establishing the complexity of the reachability problem for vector addition systems with states (VASS), equivalently known as Petri nets. Existing work primarily considers the case in which…
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…