Related papers: Tile Reconfiguration by a Finite Automaton
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
This paper presents a solution to the automatic task planning problem for multi-agent systems. A formal framework is developed based on the Nondeterministic Finite Automata with $\epsilon$-transitions, where given the capabilities,…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…
Deformable object manipulation remains a key challenge in developing autonomous robotic systems that can be successfully deployed in real-world scenarios. In this work, we explore the challenges of deformable object manipulation through the…
Shape completion is the problem of completing partial input shapes such as partial scans. This problem finds important applications in computer vision and robotics due to issues such as occlusion or sparsity in real-world data. However,…
Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…
The goal of machine learning is to provide solutions which are trained by data or by experience coming from the environment. Many training algorithms exist and some brilliant successes were achieved. But even in structured environments for…
Shape-programmed sheets morph from one surface into another upon activation by stimuli such as illumination, and have attracted much interest for their potential engineering applications, especially in soft robotics. Complex shape changes…
Recently, a class of mechanical lattices with reconfigurable, zero-stiffness structures has been proposed, called Totimorphic lattices. In this work, we introduce a computational framework that enables continuous reprogramming of a…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Autonomy for robots interacting with sand will enable a wide range of beneficial behaviors, from earth moving for construction and farming vehicles to navigating rough terrain for Mars rovers. The goal of this work is to shape sand into…
This work presents an algorithm for changing from latitudinal to longitudinal formation of autonomous aircraft squadrons. The maneuvers are defined dynamically by using a predefined set of 3D basic maneuvers. This formation changing is…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…
Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first…
This paper proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a designed steady-state motion of the desired shape emerges…
Complex non-local behavior makes designing high efficiency and multifunctional metasurfaces a significant challenge. While using libraries of meta-atoms provide a simple and fast implementation methodology, pillar to pillar interaction…
We present how we formalize the waiting tables task in a restaurant as a robot planning problem. This formalization was used to test our recently developed algorithms that allow for optimal planning for achieving multiple independent tasks…
We present a new version of our previously proposed algorithm enabling a swarm of robots to construct a desired shape from objects in the plane. We also describe a hardware realization for this system which makes use of simple and readily…