Related papers: Sublinear-Time Reconfiguration of Programmable Mat…
Network reconstruction consists in determining the unobserved pairwise couplings between $N$ nodes given only observational data on the resulting behavior that is conditioned on those couplings -- typically a time-series or independent…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…
In contexts such as teleoperation, robot reprogramming, human-robot-interaction, and neural prosthetics, conveying movement commands to a robotic platform is often a limiting factor. Currently, many applications rely on…
We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning. Given a snake-like robot with an initial position and a final position in an environment (modeled by a…
Programmable arrays of optical traps enable the assembly of configurations of single atoms to perform controlled experiments on quantum many-body systems. Finding the sequence of control operations to transform an arbitrary configuration of…
We consider the computational complexity of reconfiguration problems, in which one is given two combinatorial configurations satisfying some constraints, and is asked to transform one into the other using elementary transformations, while…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
This paper investigates the use of a sampling-based approach, the RRT*, to reconfigure a 2D set of connected tiles in complex environments, where multiple obstacles might be present. Since the target application is automated building of…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
We consider methods for connected reconfigurations by finite automate in the so-called \emph{hybrid} or \emph{Robot-on-Tiles} model of programmable matter, in which a number of simple robots move on and rearrange an arrangement of passive…
We envision programmable matter as a system of nano-scale agents (called particles) with very limited computational capabilities that move and compute collectively to achieve a desired goal. We use the geometric amoebot model as our…
Multi-robot motion planning is a hard problem. We investigate restricted variants of the problem where square robots are allowed to slide over an arbitrary curve to a new position only a constant number of times each. We show that the…
We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop…
Robots operating in changing environments either predict obstacle changes and/or plan quickly enough to react to them. Predictive approaches require a strong prior about the position and motion of obstacles. Reactive approaches require no…
In the arbitrary pattern formation problem, $n$ autonomous, mobile robots must form an arbitrary pattern $P \subseteq \mathbb{R}^2$. The (deterministic) robots are typically assumed to be indistinguishable, disoriented, and unable to…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
All-to-all collective communication is a core primitive in distributed machine learning and high-performance computing. At the server scale, the communication demands of these workloads are increasingly outstripping the bandwidth and energy…
In this paper, we propose a cooperative long-term task execution (LTTE) algorithm for protecting a moving target into the interior of an ordering-flexible convex hull by a team of robots resiliently in the changing environments.…
Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control…