相关论文: Centralised Connectivity-Preserving Transformation…

We study a model of programmable matter systems consisting of $n$ devices lying on a 2-dimensional square grid which are able to perform the minimal mechanical operation of rotating around each other. The goal is to transform an initial…

We consider a discrete system of $n$ devices lying on a 2-dimensional square grid and forming an initial connected shape $S_I$. Each device is equipped with a linear-strength mechanism which enables it to move a whole line of consecutive…

In this paper, we study a discrete system of entities residing on a two-dimensional square grid. Each entity is modelled as a node occupying a distinct cell of the grid. The set of all $n$ nodes forms initially a connected shape $A$.…

In this work, we study theoretical models of \emph{programmable matter} systems. The systems under consideration consist of spherical modules, kept together by magnetic forces and able to perform two minimal mechanical operations (or…

We present the first universal reconfiguration algorithm for transforming a modular robot between any two facet-connected square-grid configurations using pivot moves. More precisely, we show that five extra "helper" modules ("musketeers")…

We study centralized reconfiguration problems for geometric amoebot structures. A set of $n$ amoebots occupy nodes on the triangular grid and can reconfigure via expansion and contraction operations. We focus on the joint movement…

Molecular robotics is challenging, so it seems best to keep it simple. We consider an abstract molecular robotics model based on simple folding instructions that execute asynchronously. Turning Machines are a simple 1D to 2D folding model,…

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…

We give both efficient algorithms and hardness results for reconfiguring between two connected configurations of modules in the hexagonal grid. The reconfiguration moves that we consider are "pivots", where a hexagonal module rotates around…

Conforming hexahedral (hex) meshes are favored in simulation for their superior numerical properties, yet automatically decomposing a general 3D volume into a conforming hex mesh remains a formidable challenge. Among existing approaches,…

We study the problem of covering a given set of $n$ points in a high, $d$-dimensional space by the minimum enclosing polytope of a given arbitrary shape. We present algorithms that work for a large family of shapes, provided either only…

In programmable matter, we consider a large number of tiny, primitive computational entities called particles that run distributed algorithms to control global properties of the particle structure. Shape formation problems, where the…

The decomposition of complex structures into simpler substructures is a powerful technique with a wide range of applications. We study the computation of decompositions in the context of programmable matter. The amoebot model is a…

This paper studies hidden convexity properties associated with constrained optimization problems over the set of rotation matrices $\text{SO}(n)$. Such problems are nonconvex due to the constraint $X \in \text{SO}(n)$. Nonetheless, we show…

Rotation Averaging is a non-convex optimization problem that determines orientations of a collection of cameras from their images of a 3D scene. The problem has been studied using a variety of distances and robustifiers. The intrinsic (or…

The amoebot model [Derakhshandeh et al., 2014] has been proposed as a model for programmable matter consisting of tiny, robotic elements called amoebots. We consider the reconfigurable circuit extension [Feldmann et al., JCB 2022] of the…

Tomography is the area of reconstructing objects from projections. Here we wish to reconstruct a set of cells in a two dimensional grid, given the number of cells in every row and column. The set is required to be an hv-convex polyomino,…

Transitive consistency is an intrinsic property for collections of linear invertible transformations between Euclidean coordinate frames. In practice, when the transformations are estimated from data, this property is lacking. This work…

Many years ago John Tyrell a lecturer at King's college London challenged his Ph.D. students with the following puzzle: show that there is a unique triangle of minimal perimeter with exactly one vertex to lie on one of three given lines,…

In this paper, the problem of reaching formation for a network of rigid agents over a special orthogonal group is investigated by considering bearing-only constraints as the desired formation. Each agent is able to gather the measurements…