Related papers: On the Parameterized Complexity of Motion Planning…
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…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
This work considers the path planning problem for a team of identical robots evolving in a known environment. The robots should satisfy a global specification given as a Linear Temporal Logic (LTL) formula over a set of regions of interest.…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
We study the Monotone Sliding Reconfiguration (MSR) problem, in which $\textit{labeled}$ pairwise interior-disjoint objects in a planar workspace need to be brought $\textit{one by one}$ from their initial positions to given target…
Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…
In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time among the targets is a significant component of the overall…
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
Given a set of $n\geq 1$ autonomous, anonymous, indistinguishable, silent, and possibly disoriented mobile unit disk (i.e., fat) robots operating following Look-Compute-Move cycles in the Euclidean plane, we consider the Pattern Formation…
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…
A directed odd cycle transversal of a directed graph (digraph) $D$ is a vertex set $S$ that intersects every odd directed cycle of $D$. In the Directed Odd Cycle Transversal (DOCT) problem, the input consists of a digraph $D$ and an integer…
A Fixed-Parameter Tractable (\FPT) $\rho$-approximation algorithm for a minimization (resp. maximization) parameterized problem $P$ is an FPT algorithm that, given an instance $(x, k)\in P$ computes a solution of cost at most $k \cdot…
Given a graph $G$ with source and destination vertices $s,t\in V(G)$ respectively, \textsc{Tracking Paths} asks for a minimum set of vertices $T\subseteq V(G)$, such that the sequence of vertices encountered in each simple path from $s$ to…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
The Metric $k$-median problem over a metric space $(\mathcal{X}, d)$ is defined as follows: given a set $L \subseteq \mathcal{X}$ of facility locations and a set $C \subseteq \mathcal{X}$ of clients, open a set $F \subseteq L$ of $k$…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…