Related papers: Tile Reconfiguration by a Finite Automaton
A configuration of $n$ unit-cube-shaped \textit{modules} (or \textit{robots}) is a lattice-aligned placement of the $n$ modules so that their union is face-connected. The reconfiguration problem aims at finding a sequence of moves that…
Formation strategy is one of the most important parts of many multi-agent systems with many applications in real world problems. In this paper, a framework for learning this task in a limited domain (restricted environment) is proposed. In…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
In the Escherization problem, given a closed figure in a plane, the objective is to find a closed figure that is as close as possible to the input figure and tiles the plane. Koizumi and Sugihara's formulation reduces this problem to an…
Topology optimization (TO) is a family of computational methods that derive near-optimal geometries from formal problem descriptions. Despite their success, established TO methods are limited to generating single solutions, restricting the…
Shape formation has been recently studied in distributed systems of programmable particles. In this paper we consider the shape recovery problem of restoring the shape when $f$ of the $n$ particles have crashed. We focus on the basic line…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new,…
Many proposals have already been made for realizing programmable matter, ranging from shape-changing molecules, DNA tiles, and synthetic cells to reconfigurable modular robotics. Envisioning systems of nano-sensors devices, we are…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
We consider algorithmic problems motivated by modular robotic reconfiguration in the sliding square model, in which we are given $n$ square-shaped modules in a (labeled or unlabeled) start configuration and need to find a schedule of…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
We consider a simply supported plate with constant thickness, defined on an unknown multiply connected domain. We optimize its shape according to some given performance functional. Our method is of fixed domain type, easy to be implemented,…
We propose a new approach for controlling the characteristics of certain mesh faces during optimization of high-order curved meshes. The practical goals are tangential relaxation along initially aligned curved boundaries and internal…
Working in Winfree's abstract tile assembly model, we show that a constant-size tile assembly system can be programmed through relative tile concentrations to build an n x n square with high probability, for any sufficiently large n. This…
In this paper, we investigate shape-assembling power of a tile-based model of self-assembly called the Signal-Passing Tile Assembly Model (STAM). In this model, the glues that bind tiles together can be turned on and off by the binding…
The sliding cubes model is a well-established theoretical framework that supports the analysis of reconfiguration algorithms for modular robots consisting of face-connected cubes. The best algorithm currently known for the reconfiguration…
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…
As humans, we regularly associate shape of an object with its built material. In the context of geometric modeling, however, this interrelation between form and material is rarely explored. In this work, we propose a novel data-driven…