相关论文: Algebraic Structure of the Varikon Box
We consider a set of challenging sequential manipulation puzzles, where an agent has to interact with multiple movable objects and navigate narrow passages. Such settings are notoriously difficult for Task-and-Motion Planners, as they…
We study ordered configuration spaces $C(n;p,q)$ of $n$ hard squares in a $p \times q$ rectangle, a generalization of the well-known "15 Puzzle". Our main interest is in the topology of these spaces. Our first result is to describe a…
A sliding puzzle is a combination puzzle where a player slide pieces along certain routes on a board to reach a certain end-configuration. In this paper, we propose a novel measurement of complexity of massive sliding puzzles with…
We construct an automaton group with a PSPACE-complete word problem, proving a conjecture due to Steinberg. Additionally, the constructed group has a provably more difficult, namely EXPSPACE-complete, compressed word problem and acts over a…
We give a method for constructing an interactive art piece which illustrates two different definitions of the braid groups, along with their faithful action on the free group. The box also demonstrates how all motions of points in the plane…
We consider the problem of constructing an an optimal-weight tree from the 3*(n choose 4) weighted quartet topologies on n objects, where optimality means that the summed weight of the embedded quartet topologiesis optimal (so it can be the…
Su-Doku, a popular combinatorial puzzle, provides an excellent testbench for heuristic explorations. Several interesting questions arise from its deceptively simple set of rules. How many distinct Su-Doku grids are there? How to find a…
In combinatorial reconfiguration, the reconfiguration problems on a vertex subset (e.g., an independent set) are well investigated. In these problems, some tokens are placed on a subset of vertices of the graph, and there are three natural…
Icosoku is a challenging and interesting puzzle that exhibits highly symmetrical and combinatorial nature. In this paper, we pose the questions derived from the puzzle, but with more difficulty and generality. In addition, we also present a…
The structure of all the permutations of a sequence can be represented as a permutohedron, a graph where vertices are permutations and two vertices are linked if a swap of adjacent elements in the permutation of one of the vertices produces…
In this paper we study the problem of Hamiltonization of nonholonomic systems from a geometric point of view. We use gauge transformations by 2-forms (in the sense of Severa and Weinstein [29]) to construct different almost Poisson…
We define three families of quivers in which the braid relations of the symmetric group $S_n$ are realized by mutations and automorphisms. A sequence of eight braid moves on a reduced word for the longest element of $S_4$ yields three…
Cylindrical algebraic decomposition (CAD) is a key tool for problems in real algebraic geometry and beyond. When using CAD there is often a choice over the variable ordering to use, with some problems infeasible in one ordering but simple…
The pancake puzzle is a classic optimization problem that has become a standard benchmark for heuristic search algorithms. In this paper, we provide full proofs regarding the local search topology of the gap heuristic for the pancake…
We investigate a new model for partitioning a set of items into groups (clusters). The number of groups is given and the distances between items are well defined. These distances may include weights. The sum of the distances between all…
This paper discusses the permutations that are generated by rotating $k \times k$ blocks of squares in a union of overlapping $k \times (k+1)$ rectangles. It is found that the single-rotation parity constraints effectively determine the…
In this paper, we present a disassemble-and-pack approach for a mechanism to seek a box which contains total mechanical parts with high space utilization. Its key feature is that mechanism contains not only geometric shapes but also…
Configuration spaces of many real mechanical systems appear to be manifolds with singularity. A singularity often indicates that geometry of motion may change at the singular point of configuration space. We face conceptual problem…
In this work we propose a heuristic algorithm for the layout optimization for disks installed in a rotating circular container. This is a unequal circle packing problem with additional balance constraints. It proved to be an NP-hard…
Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We present a physically-simulated human capable of solving box…