Related papers: Computing Motion Plans for Assembling Particles wi…
Motivated by targeted drug delivery, we investigate the gathering of particles in the full tilt model of externally controlled motion planning: A set of particles is located at the tiles of a polyomino with all particles reacting uniformly…
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants do not sample uniformly at random, and…
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, planning for mechanical assemblies when given the final…
In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…
We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
Batch planning is increasingly necessary to quickly produce diverse and quality motion plans for downstream learning applications, such as distillation and imitation learning. This paper presents Global Tensor Motion Planning (GTMP) -- a…
The algorithmic self-assembly of shapes has been considered in several models of self-assembly. For the problem of \emph{shape construction}, we consider an extended version of the Two-Handed Tile Assembly Model (2HAM), which contains…
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
We study the computational power of the Full-Tilt model of motion planning, where slidable polyominos are moved maximally around a board by way of a sequence of directional ``tilts.'' We focus on the deterministic scenario in which the…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
The problem of motion planning for affine control systems consists of designing control inputs that drive a system from a well-defined initial to final states in a desired amount of time. For control systems with drift, however,…
We present local distributed, stochastic algorithms for \emph{alignment} in self-organizing particle systems (SOPS) on two-dimensional lattices, where particles occupy unique sites on the lattice, and particles can make spatial moves to…
We present a geometric design rule for size-controlled clustering of self-propelled particles. We show that active particles that tend to rotate under an external force have an intrinsic, signed parameter with units of curvature which we…
Shape formation is a basic distributed problem for systems of computational mobile entities. Intensively studied for systems of autonomous mobile robots, it has recently been investigated in the realm of programmable matter. Namely, it has…
Imagine coating buildings and bridges with smart particles (also coined smart paint) that monitor structural integrity and sense and report on traffic and wind loads, leading to technology that could do such inspection jobs faster and…
We contribute results for a set of fundamental problems in the context of programmable matter by presenting algorithmic methods for evaluating and manipulating a collective of particles by a finite automaton that can neither store…