相关论文: Moving Matter: Using a Single, Simple Robot to Rec…

We consider the problem of reconfiguring a two-dimensional connected grid arrangement of passive building blocks from a start configuration to a goal configuration, using a single active robot that can move on the tiles, remove individual…

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…

We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of…

This paper investigates the use of a sampling-based approach, the RRT*, to reconfigure a 2D set of connected tiles in complex environments, where multiple obstacles might be present. Since the target application is automated building of…

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…

This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…

Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…

We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…

Shape formation is one of the most thoroughly studied problems in programmable matter and swarm robotics. However, in many models, the class of shapes that can be formed is highly restricted due to the particles' limited memory. In the…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…

Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…

This paper considers the shape formation problem within the 3D hybrid model, where a single agent with a strictly limited viewing range and the computational capacity of a deterministic finite automaton manipulates passive tiles through…

Robotic kitting is a critical task in industrial automation that requires the precise arrangement of objects into kits to support downstream production processes. However, when handling complex kitting tasks that involve fine-grained…

Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…

In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…

The concept of programmable matter envisions a very large number of tiny and simple robot particles forming a smart material. Even though the particles are restricted to local communication, local movement, and simple computation, their…

We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…

Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…

Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…