Related papers: State complexes for metamorphic robots
The aim of the paper is to propose geometric descriptions of multipartite entangled states using algebraic geometry. In the context of this paper, geometric means each stratum of the Hilbert space, corresponding to an entangled state, is an…
This work interprets and generalizes consensus-type algorithms as switching dynamics leading to symmetrization of some vector variables with respect to the actions of a finite group. We show how the symmetrization framework we develop…
Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the…
In this paper, we provide a framework integrating distributed multi-robot systems and temporal epistemic logic. We show that continuous-discrete hybrid systems are compatible with logical models of knowledge already used in distributed…
Partial symmetries are described by generalized group structures known as symmetric inverse semigroups. We use the algebras arising from these structures to realize supersymmetry in (0+1) dimensions and to build many-body quantum systems on…
Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…
A metamorphic robotic system (MRS) consists of anonymous modules, each of which autonomously moves in the 2D square grid by sliding and rotation with keeping connectivity among the modules. Existing literature considers distributed…
The manifold of pure quantum states is a complex projective space endowed with the unitary-invariant geometry of Fubini and Study. According to the principles of geometric quantum mechanics, the detailed physical characteristics of a given…
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…
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…
We consider exploration of finite 2D square grid by a metamorphic robotic system consisting of anonymous oblivious modules. The number of possible shapes of a metamorphic robotic system grows as the number of modules increases. The shape of…
It is proposed to give up the description of physical states in terms of ensembles of state vectors with various probabilities, relying instead solely on the density matrix as the description of reality. With this definition of a physical…
The identification of states and parameters from noisy measurements of a dynamical system is of great practical significance and has received a lot of attention. Classically, this problem is expressed as optimization over a class of models.…
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 study the problem of determining whether a given temporal specification can be implemented by a symmetric system, i.e., a system composed from identical components. Symmetry is an important goal in the design of distributed systems,…
Complex networks structures have been extensively used for describing complex natural and technological systems, like the Internet or social networks. More recently complex network theory has been applied to quantum systems, where complex…
The concept of random dynamical system is a comparatively recent development combining ideas and methods from the well developed areas of probability theory and dynamical systems. Due to our inaccurate knowledge of the particular physical…
Symmetry is fundamental in the description and simulation of quantum systems. Leveraging symmetries in classical simulations of many-body quantum systems can results in significant overhead due to the exponentially growing size of some…
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…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…