相关论文: An Algorithmic Study of Manufacturing Paperclips a…

This paper investigates the \emph{Wiring Diagram Problem} (WDP), a three-dimensional layout design problem arising in industrial applications such as cable harness design and pipeline routing in constrained environments. In these settings,…

We introduce a new technique for designing fixed-parameter algorithms for cut problems, namely randomized contractions. We apply our framework to obtain the first FPT algorithm for the Unique Label Cover problem and new FPT algorithms with…

We study the problem of sampling a uniformly random directed rooted spanning tree, also known as an arborescence, from a possibly weighted directed graph. Classically, this problem has long been known to be polynomial-time solvable; the…

Complicated assembly processes can be described as a sequence of two main activities: grasping and insertion. While general grasping solutions are common in industry, insertion is still only applicable to small subsets of problems, mainly…

This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a…

The automation of composite sheet layup is essential to meet the increasing demand for composite materials in various industries. However, draping plans for the robotic layup of composite sheets are not robust. A plan that works well under…

A foundational result in origami mathematics is Kawasaki and Justin's simple, efficient characterization of flat foldability for unassigned single-vertex crease patterns (where each crease can fold mountain or valley) on flat material. This…

The Cluster Editing problem seeks a transformation of a given undirected graph into a disjoint union of cliques via a minimum number of edge additions or deletions. A multi-parameterized version of the problem is studied, featuring a number…

Past work on optimizing fabrication plans given a carpentry design can provide Pareto-optimal plans trading off between material waste, fabrication time, precision, and other considerations. However, when developing fabrication plans,…

In this paper, we show that deciding rigid foldability of a given crease pattern using all creases is weakly NP-hard by a reduction from Partition, and that deciding rigid foldability with optional creases is strongly NP-hard by a reduction…

Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with…

Cutting and Packing problems are occurring in different industries with a direct impact on the revenue of businesses. Generally, the goal in Cutting and Packing is to assign a set of smaller objects to a set of larger objects. To solve…

A graph is rectilinear planar if it admits a planar orthogonal drawing without bends. While testing rectilinear planarity is NP-hard in general (Garg and Tamassia, 2001), it is a long-standing open problem to establish a tight upper bound…

We prove that, in all dimensions d>=4, every simple open polygonal chain and every tree may be straightened, and every simple closed polygonal chain may be convexified. These reconfigurations can be achieved by algorithms that use…

3D printing enables the fabrication of complex architectures by automating long sequences of additive steps. The increasing sophistication of printers, materials, and generative design promises to make geometric complexity a non-issue in…

Tightness is a generalisation of the notion of convexity: a space is tight if and only if it is "as convex as possible", given its topological constraints. For a simplicial complex, deciding tightness has a straightforward exponential time…

Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…

Order picking is the process of retrieving ordered products from storage locations in warehouses. In picker-to-parts order picking systems, two or more customer orders may be grouped and assigned to a single picker. Then routing decision…

A collection of thin structures buckle, bend, and bump into each-other when confined. This contact can lead to the formation of patterns: hair will self-organize in curls; DNA strands will layer into cell nuclei; paper, when crumpled, will…

We propose a machine learning approach to address a key challenge in materials science: predicting how fractures propagate in brittle materials under stress, and how these materials ultimately fail. Our methods use deep learning and train…