相关论文: Accelerating Amoebots via Reconfigurable Circuits

We consider the problem of computing shortest paths in hybrid networks, in which nodes can make use of different communication modes. For example, mobile phones may use ad-hoc connections via Bluetooth or Wi-Fi in addition to the cellular…

The sliding square model is a widely used abstraction for studying self-reconfigurable robotic systems, where modules are square-shaped robots that move by sliding or rotating over one another. In this paper, we propose a novel distributed…

We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and…

Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…

Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…

Many hard graph problems, such as Hamiltonian Cycle, become FPT when parameterized by treewidth, a parameter that is bounded only on sparse graphs. When parameterized by the more general parameter clique-width, Hamiltonian Cycle becomes…

We analyse the singularity formation of congruences of solutions of systems of second order PDEs via the construction of \emph{shape maps}. The trace of such maps represents a congruence volume whose collapse we study through an appropriate…

In this paper we present algorithms for a number of problems in geometric pattern matching where the input consist of a collections of segments in the plane. Our work consists of two main parts. In the first, we address problems and…

In this work we introduce the graph-theoretic notion of mendability: for each locally checkable graph problem we can define its mending radius, which captures the idea of how far one needs to modify a partial solution in order to "patch a…

In this paper, we present enumeration algorithms to list all preferred extensions of an argumentation framework. This task is equivalent to enumerating all maximal semikernels of a directed graph. For directed graphs on $n$ vertices, all…

The hamiltonian circuit polytope is the convex hull of feasible solutions for the circuit constraint, which provides a succinct formulation of the traveling salesman and other sequencing problems. We study the polytope by establishing its…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…

We study the problem of optimal leader selection in consensus networks with noisy relative information. The objective is to identify the set of $k$ leaders that minimizes the formation's deviation from the desired trajectory established by…

We present a new method for analyzing the running time of parallel evolutionary algorithms with spatially structured populations. Based on the fitness-level method, it yields upper bounds on the expected parallel running time. This allows…

We study the allocation problem in the Massively Parallel Computation (MPC) model. This problem is a special case of $b$-matching, in which the input is a bipartite graph with capacities greater than $1$ in only one part of the bipartition.…

Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is often unavailable in practice. This motivates the use of…

We provide a simple new randomized contraction approach to the global minimum cut problem for simple undirected graphs. The contractions exploit 2-out edge sampling from each vertex rather than the standard uniform edge sampling. We…

Autonomous assembly of objects is an essential task in robotics and 3D computer vision. It has been studied extensively in robotics as a problem of motion planning, actuator control and obstacle avoidance. However, the task of developing a…

This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \emph{ball world}, an artificial representation…

Quantum error correction (QEC) codes are traditionally defined and searched for without specifying the manner in which its syndrome extraction circuits are executed using elementary gates and measurements. We show how morphing circuits…