相关论文: Accelerating Amoebots via Reconfigurable Circuits

In this work, we use algebraic methods for studying distance computation and subgraph detection tasks in the congested clique model. Specifically, we adapt parallel matrix multiplication implementations to the congested clique, obtaining an…

We consider an asynchronous network of $n$ message-sending parties, up to $t$ of which are byzantine. We study approximate agreement, where the parties obtain approximately equal outputs in the convex hull of their inputs. In their seminal…

We consider the problem of constructing distributed overlay networks, where nodes in a reconfigurable system can create or sever connections with nodes whose identifiers they know. Initially, each node knows only its own and its neighbors'…

This paper presents a new mesh segmentation method that integrates geometrical and topological features through a flexible Reeb graph representation. The algorithm consists of three phases: construction of the Reeb graph using the improved…

Planning of any motion starts by planning the trajectory of the CoM. It is of the highest importance to ensure that the robot will be able to perform planned trajectory. With increasing capabilities of the humanoid robots, the case when…

This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their…

This paper presents an adaptive amoeba algorithm to address the shortest path tree (SPT) problem in dynamic graphs. In dynamic graphs, the edge weight updates consists of three categories: edge weight increases, edge weight decreases, the…

We present a robust method to find region-level correspondences between shapes, which are invariant to changes in geometry and applicable across multiple shape representations. We generate simplified shape graphs by jointly decomposing the…

Circuits play a fundamental role in polyhedral theory and linear programming. For instance, circuits are used as step directions in various augmentation schemes for solving linear programs or to leave degenerate vertices while running the…

We show how to construct an overlay network of constant degree and diameter $O(\log n)$ in time $O(\log n)$ starting from an arbitrary weakly connected graph. We assume a synchronous communication network in which nodes can send messages to…

In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smart warehouses, factories or hospitals. In these…

We propose a new method to extend the size of a quantum computation beyond the number of physical qubits available on a single device. This is accomplished by randomly inserting measure-and-prepare channels to express the output state of a…

For an $n$-vertex digraph $G=(V,E)$, a \emph{shortcut set} is a (small) subset of edges $H$ taken from the transitive closure of $G$ that, when added to $G$ guarantees that the diameter of $G \cup H$ is small. Shortcut sets, introduced by…

Rapidly exploring random trees (RRTs) have proven effective in quickly finding feasible solutions to complex motion planning problems. RRT* is an extension of the RRT algorithm that provides probabilistic asymptotic optimality guarantees…

Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…

The wavelet tree has become a very useful data structure to efficiently represent and query large volumes of data in many different domains, from bioinformatics to geographic information systems. One problem with wavelet trees is their…

Circular interfaces such as those found on smartwatches, automotive dashboards, cockpit instruments, or in radial visualizations pose unique challenges for placing readable labels. Traditional rectangular labeling methods waste screen space…

We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties.…

We study fundamental graph problems such as graph connectivity, minimum spanning forest (MSF), and approximate maximum (weight) matching in a distributed setting. In particular, we focus on the Adaptive Massively Parallel Computation (AMPC)…

Shape matching has been a long-studied problem for the computer graphics and vision community. The objective is to predict a dense correspondence between meshes that have a certain degree of deformation. Existing methods either consider the…