Related papers: A Simple Proof that Ricochet Robots is PSPACE-Comp…
We present a non-technical overview of the results obtained by the authors (2015) concerning the so-called robot rendezvous problem studied by Feintuch and Francis (2012). In particular, we present a necessary and sufficient condition for…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly…
The challenge of robotic reproduction -- making of new robots by recombining two existing ones -- has been recently cracked and physically evolving robot systems have come within reach. Here we address the next big hurdle: producing an…
Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…
Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…
This article describes a Turing machine which can solve for $\beta^{'}$ which is RE-complete. RE-complete problems are proven to be undecidable by Turing's accepted proof on the Entscheidungsproblem. Thus, constructing a machine which…
It was shown in Alur et al. [1] that the problem of verifying finite concurrent systems through Linearizability is in EXPSPACE. However, there was still a complexity gap between the easy to obtain PSPACE lower bound and the EXPSPACE upper…
In this paper, we employ successive convexification to solve the minimum-time 6-DoF rocket powered landing problem. The contribution of this paper is the development and demonstration of a free-final-time problem formulation that can be…
We resolve a long-standing open problem posed by Federer concerning the rectifiability of the integral geometric measure with exponent p >1, thereby settling a question that has persisted since its formulation. While the main theorem is…
Recently, Ohsaka [STACS'23] put forth the Reconfiguration Inapproximability Hypothesis (RIH), which roughly asserts that there is some $\epsilon>0$ such that given as input a $k$-CSP instance (for some constant $k$) over some constant sized…
Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…
When considering motion planning for a swarm of $n$ labeled robots, we need to rearrange a given start configuration into a desired target configuration via a sequence of parallel, collision-free robot motions. The objective is to reach the…
In the Minmax Set Cover Reconfiguration problem, given a set system $\mathcal{F}$ over a universe and its two covers $\mathcal{C}^\mathsf{start}$ and $\mathcal{C}^\mathsf{goal}$ of size $k$, we wish to transform $\mathcal{C}^\mathsf{start}$…
A Riemannian metric with a local contraction property can be used to prove existence and uniqueness of a periodic orbit and determine a subset of its basin of attraction. While the existence of such a contraction metric is equivalent to the…
We show that the big-O problem for max-plus automata is decidable and PSPACE-complete. The big-O (or affine domination) problem asks whether, given two max-plus automata computing functions f and g, there exists a constant c such that f <…
Using the notion of visibility representations, our paper establishes a new property of instances of the Nondeterministic Constraint Logic (NCL) problem (a PSPACE-complete problem that is very convenient to prove the PSPACE-hardness of…
The Shortest Path Reconfiguration problem has as input a graph G (with unit edge lengths) with vertices s and t, and two shortest st-paths P and Q. The question is whether there exists a sequence of shortest st-paths that starts with P and…
A saturation algorithm for collapsible pushdown systems was published in ICALP 2012. This work introduced a class of stack automata used to recognised regular sets of collapsible pushdown configurations. It was shown that these automata…
This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…