Related papers: Ten Problems in Geobotics
Geometric rounding of a mesh is the task of approximating its vertex coordinates by floating point numbers while preserving mesh structure. Geometric rounding allows algorithms of computational geometry to interface with numerical…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
In a wide array of areas, algorithms are matching and surpassing the performance of human experts, leading to consideration of the roles of human judgment and algorithmic prediction in these domains. The discussion around these…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
How do we move a robot efficiently from one position to another? To answer this question, we need to understand its configuration space, a 'map' where we can find every possible position of the robot. Unfortunately, these maps are very…
Given a set of $n\geq 1$ unit disk robots in the Euclidean plane, we consider the fundamental problem of providing mutual visibility to them: the robots must reposition themselves to reach a configuration where they all see each other. This…
It is a collection of problems and exercises of geodesy and the theory of errors.
Computational topology is an area that revisits topological problems from an algorithmic point of view, and develops topological tools for improved algorithms. We survey results in computational topology that are concerned with graphs drawn…
This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…
The emergence of robot-based body augmentation promises exciting innovations that will inform robotics, human-machine interaction, and wearable electronics. Even though augmentative devices like extra robotic arms and fingers in many ways…
People solve different problems and know that some of them are simple, some are complex and some insoluble. The main goal of this work is to develop a mathematical theory of algorithmic complexity for problems. This theory is aimed at…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
Riemannian geometry is a mathematical field which has been the cornerstone of revolutionary scientific discoveries such as the theory of general relativity. Despite early uses in robot design and recent applications for exploiting data with…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed geometric navigation systems with decades of empirical…
We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
In nearly every discipline, scientific computations are limited by the cost and speed of computation. For example, the best-known exact algorithms for the canonical Traveling Salesman Problem would take centuries to run on an instance of…
Nowadays service robots are leaving the structured and completely known environments and entering human-centric settings. For these robots, object perception and grasping are two challenging tasks due to the high demand for accurate and…