Related papers: A Simple Proof that Ricochet Robots is PSPACE-Comp…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a…
There are a number of results saying that for certain "path-following" algorithms that solve PPAD-complete problems, the solution obtained by the algorithm is PSPACE-complete to compute. We conjecture that these results are special cases of…
Task allocation has been a well studied problem. In most prior problem formulations, it is assumed that each task is associated with a unique set of resource requirements. In the scope of multi-robot task allocation problem, these…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
State-of-the-art algorithms in lattice gauge theory typically rely heavily on detailed balance, which is an instrumental tool to prove the correct convergence of the Markov Chain Monte Carlo Algorithm. In this work, we investigate an…
The decidability and complexity of reachability problems and model-checking for flat counter machines have been explored in detail. However, only few results are known for flat (lossy) FIFO machines, only in some particular cases (a single…
We analyse the dynamics of networks in which a central pattern generator (CPG) transmits signals along one or more feedforward chains in a synchronous or phase-synchronous manner. Such propagating signals are common in biology, especially…
We present the first results on the parameterized complexity of reconfiguration problems, where a reconfiguration version of an optimization problem $Q$ takes as input two feasible solutions $S$ and $T$ and determines if there is a sequence…
Relying on work of Caprace and Sageev \cite{capracesageev:rank}, we provide an effective form of rank rigidity in the context of groups virtually acting freely cocompactly on a CAT(0) cube complex with a factor system. We accomplish this by…
Passive Gamma Emission Tomography (PGET) is an IAEA-approved technique for verifying spent nuclear fuel assemblies prior to geological disposal. Reconstructing the emission and attenuation maps from PGET measurements is a nonlinear…
Robots can now learn how to make decisions and control themselves, generalizing learned behaviors to unseen scenarios. In particular, AI powered robots show promise in rough environments like the lunar surface, due to the environmental…
We study centralized reconfiguration problems for geometric amoebot structures. A set of $n$ amoebots occupy nodes on the triangular grid and can reconfigure via expansion and contraction operations. We focus on the joint movement…
The Stacker Crane Problem (SCP) is a variant of the Traveling Salesman Problem. In SCP, pairs of pickup and delivery points are designated on a graph, and a crane must visit these points to move objects from each pickup location to its…
This paper deals with the rotation synchronization problem, which arises in global registration of 3D point-sets and in structure from motion. The problem is formulated in an unprecedented way as a "low-rank and sparse" matrix decomposition…
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpinned by an innovative prior polygon map. Especially, to…
We show that the subset sum problem, the knapsack problem and the rational subset membership problem for permutation groups are NP-complete. Concerning the knapsack problem we obtain NP-completeness for every fixed $n \geq 3$, where $n$ is…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…
Multi-legged robots deployed in complex missions are susceptible to physical damage in their legs, impairing task performance and potentially compromising mission success. This letter presents a rapid, training-free damage recovery…
This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to…