Related papers: Sublinear-Time Reconfiguration of Programmable Mat…
We are considering the geometric amoebot model where a set of $n$ amoebots is placed on the triangular grid. An amoebot is able to send information to its neighbors, and to move via expansions and contractions. Since amoebots and…
The amoebot model [Derakhshandeh et al., 2014] has been proposed as a model for programmable matter consisting of tiny, robotic elements called amoebots. We consider the reconfigurable circuit extension [Feldmann et al., JCB 2022] of the…
The concept of programmable matter envisions a very large number of tiny and simple robot particles forming a smart material. Even though the particles are restricted to local communication, local movement, and simple computation, their…
The decomposition of complex structures into simpler substructures is a powerful technique with a wide range of applications. We study the computation of decompositions in the context of programmable matter. The amoebot model is a…
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…
In the modular robot reconfiguration problem, we are given $n$ cube-shaped modules (or robots) as well as two configurations, i.e., placements of the $n$ modules so that their union is face-connected. The goal is to find a sequence of moves…
In programmable matter, we consider a large number of tiny, primitive computational entities called particles that run distributed algorithms to control global properties of the particle structure. Shape formation problems, where the…
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…
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…
We present the first universal reconfiguration algorithm for transforming a modular robot between any two facet-connected square-grid configurations using pivot moves. More precisely, we show that five extra "helper" modules ("musketeers")…
We give both efficient algorithms and hardness results for reconfiguring between two connected configurations of modules in the hexagonal grid. The reconfiguration moves that we consider are "pivots", where a hexagonal module rotates around…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
The amoebot model abstracts active programmable matter as a collection of simple computational elements called amoebots that interact locally to collectively achieve tasks of coordination and movement. Since its introduction at SPAA 2014, a…
When considering motion planning for a swarm of $n$ labeled robots, we need to rearrange a given start configuration into a desired target configuration via a sequence of parallel, collision-free robot motions. The objective is to reach the…
We study the classic sliding cube model for programmable matter under parallel reconfiguration in three dimensions, providing novel algorithmic and surprising complexity results in addition to generalizing the best known bounds from two to…
We study a model of programmable matter systems consisting of $n$ devices lying on a 2-dimensional square grid, which are able to perform the minimal mechanical operation of rotating around each other. The goal is to transform an initial…
We present a number of breakthroughs for coordinated motion planning, in which the objective is to reconfigure a swarm of labeled convex objects by a combination of parallel, continuous, collision-free translations into a given target…
We revisit the complexity of the classical Interval Scheduling in the dynamic setting. In this problem, the goal is to maintain a set of intervals under insertions and deletions and report the size of the maximum size subset of pairwise…
We consider the theoretical model of Crystalline robots, which have been introduced and prototyped by the robotics community. These robots consist of independently manipulable unit-square atoms that can extend/contract arms on each side and…
We consider an extension to the geometric amoebot model that allows amoebots to form so-called \emph{circuits}. Given a connected amoebot structure, a circuit is a subgraph formed by the amoebots that permits the instant transmission of…