Related papers: Tile Reconfiguration by a Finite Automaton
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…
In this paper, we investigate a novel reconfigurable part-based model, namely And-Or graph model, to recognize object shapes in images. Our proposed model consists of four layers: leaf-nodes at the bottom are local classifiers for detecting…
Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
We study Snipperclips, a computer puzzle game whose objective is to create a target shape with two tools. The tools start as constant-complexity shapes, and each tool can snip (i.e., subtract its current shape from) the other tool. We study…
To facilitate widespread adoption of automated engineering design techniques, existing methods must become more efficient and generalizable. In the field of topology optimization, this requires the coupling of modern optimization methods…
The field of algorithmic optimization has significantly advanced with the development of methods for the automatic configuration of algorithmic parameters. This article delves into the Algorithm Configuration Problem, focused on optimizing…
We investigate motion planning algorithms for the assembly of shapes in the \emph{tilt model} in which unit-square tiles move in a grid world under the influence of uniform external forces and self-assemble according to certain rules. We…
To learn object models for robotic manipulation, unsupervised methods cannot provide accurate object structural information and supervised methods require a large amount of manually labeled training samples, thus interactive object…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
In this work, we study theoretical models of \emph{programmable matter} systems. The systems under consideration consist of spherical modules, kept together by magnetic forces and able to perform two minimal mechanical operations (or…
We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
The increasing complexity of modern configurable systems makes it critical to improve the level of automation in the process of system configuration. Such automation can also improve the agility of the development cycle, allowing for rapid…
Given a finite collection of two-dimensional tile types, the field of study concerned with covering the plane with tiles of these types exclusively has a long history, having enjoyed great prominence in the last six to seven decades. Much…
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…
Building structures by low capability robots is a very recent research development. A robot (or a mobile agent) is designed as a deterministic finite automaton. The objective is to make a structure from a given distribution of materials…
Soft deployable structures - unlike conventional piecewise rigid deployables based on hinges and springs - can assume intricate 3-D shapes, thereby enabling transformative technologies in soft robotics, shape-morphing architecture, and…
We formulate statistical-mechanical inverse methods in order to determine optimized interparticle interactions that spontaneously produce target many-particle configurations. Motivated by advances that give experimentalists greater and…