Related papers: Sublinear-Time Reconfiguration of Programmable Mat…
Leader Election is an important primitive for programmable matter, since it is often an intermediate step for the solution of more complex problems. Although the leader election problem itself is well studied even in the specific context of…
This paper focuses on integer linear programs where solutions are binary matrices, and the corresponding symmetry group is the set of all column permutations. Orbitopal fixing, as introduced by Kaibel et al., is a technique designed to…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…
The orbit problem is at the heart of symmetry reduction methods for model checking concurrent systems. It asks whether two given configurations in a concurrent system (represented as finite strings over some finite alphabet) are in the same…
We study the Monotone Sliding Reconfiguration (MSR) problem, in which $\textit{labeled}$ pairwise interior-disjoint objects in a planar workspace need to be brought $\textit{one by one}$ from their initial positions to given target…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
The goal in {\em reconfiguration problems} is to compute a {\em gradual transformation} between two feasible solutions of a problem such that all intermediate solutions are also feasible. In the {\em Matching Reconfiguration Problem} (MRP),…
Addressing a fundamental problem in programmable matter, we present the first deterministic algorithm to elect a unique leader in a system of connected amoebots assuming only that amoebots are initially contracted. Previous algorithms…
The starting point of this paper is the problem of scheduling $n$ jobs with processing times and due dates on a single machine so as to minimize the total processing time of tardy jobs, i.e., $1||\sum p_j U_j$. This problem was identified…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
Many real-world systems are modelled using complex ordinary differential equations (ODEs). However, the dimensionality of these systems can make them challenging to analyze. Dimensionality reduction techniques like Proper Orthogonal…
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…
In this paper, we study the computation of shortest paths within the \emph{geometric amoebot model}, a commonly used model for programmable matter. Shortest paths are essential for various tasks and therefore have been heavily investigated…
We consider the following general scheduling problem studied recently by Moseley. There are $n$ jobs, all released at time $0$, where job $j$ has size $p_j$ and an associated arbitrary non-decreasing cost function $f_j$ of its completion…
Emerging networked systems become increasingly flexible and reconfigurable. This introduces an opportunity to adjust networked systems in a demand-aware manner, leveraging spatial and temporal locality in the workload for online…
We study unbiased $(1+1)$ evolutionary algorithms on linear functions with an unknown number $n$ of bits with non-zero weight. Static algorithms achieve an optimal runtime of $O(n (\ln n)^{2+\epsilon})$, however, it remained unclear whether…
Autonomous reconfiguration of agent-based systems is a key challenge in the study of programmable matter, distributed robotics, and molecular self-assembly. While substantial prior work has focused on size-preserving transformations, much…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…