Related papers: Reconfiguration of 3D Pivoting Modular Robots
We show that, near periodic orbits, a class of hybrid models can be reduced to or approximated by smooth continuous-time dynamical systems. Specifically, near an exponentially stable periodic orbit undergoing isolated transitions in a…
In this work, we study theoretical models of \emph{programmable matter} systems. The systems under consideration consist of spherical modules, kept together by magnetic forces and able to perform two minimal mechanical operations (or…
The concept of programmable matter envisions a very large number of tiny and simple robot particles forming a smart material. Even though the particles are restricted to local communication, local movement, and simple computation, their…
Extensive Monte Carlo simulations were carried out to investigate the nature of the ordering transition of a model of adsorbed self-assembled rigid rods on the bonds of a square lattice [Tavares et. al., Phys. Rev E 79, 021505 (2009)]. The…
We study a model of programmable matter systems consisting of $n$ devices lying on a 2-dimensional square grid, which are able to perform the minimal mechanical operation of rotating around each other. The goal is to transform an initial…
In this paper we generalize the discrete r-homotopy to the discrete (s, r)-homotopy. Then by this notion, we introduce the discrete motion planning for robots which can move discreetly. Moreover, in this case the number of motion planning,…
Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
We derive explicitly the structural properties of the $p$-adic special orthogonal groups in dimension three, for all primes $p$, and, along the way, the two-dimensional case. In particular, starting from the unique definite quadratic form…
Replacing modules in pretrained models, especially swapping quadratic self-attention for efficient attention alternatives, poses a hard optimization problem: cold-start reinitialization destabilizes frozen backbones. We isolate this core…
Inspired by the issue of stability of molecular structures, we investigate the strict minimality of point sets with respect to configurational energies featuring two- and three-body contributions. Our main focus is on characterizing those…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
Let $S$ be a point set in the plane, $\mathcal{P}(S)$ and $\mathcal{C}(S)$ sets of all plane spanning paths and caterpillars on $S$. We study reconfiguration operations on $\mathcal{P}(S)$ and $\mathcal{C}(S)$. In particular, we prove that…
Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to…
It is well known that a rotation of a free generic three-dimensional rigid body is stationary if and only if it is a rotation around one of three principal axes of inertia. As it was noted by many authors, the analogous result is true for a…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
The instability of embedding spaces across model retraining cycles presents significant challenges to downstream applications using user or item embeddings derived from recommendation systems as input features. This paper introduces a novel…
Reconfigurable robot swarms are capable of connecting with each other to form complex structures. Current mechanical or magnetic connection mechanisms can be complicated to manufacture, consume high power, have a limited load-bearing…
Our project is to define Radon-type transforms in symplectic geometry. The chosen framework consists of symplectic symmetric spaces whose canonical connection is of Ricci-type. They can be considered as symplectic analogues of the spaces of…
We study the cohomological equation associated with screw motions on the Euclidean motion group SE(3). Working on the smooth manifold M = T^3 x SO(3), we combine Fourier analysis in the translational variables with Peter-Weyl theory on…