Moving Matter: Using a Single, Simple Robot to Reconfigure a Connected Set of Building Blocks
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arXiv
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| Main Authors: | , , , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915364272603136 |
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| author | Garcia, Javier Friemel, Jonas Kosfeld, Ramin Yannuzzi, Michael Kramer, Peter Rieck, Christian Scheffer, Christian Schmidt, Arne Kube, Harm Biediger, Dan Fekete, Sándor P. Becker, Aaron T. |
| author_facet | Garcia, Javier Friemel, Jonas Kosfeld, Ramin Yannuzzi, Michael Kramer, Peter Rieck, Christian Scheffer, Christian Schmidt, Arne Kube, Harm Biediger, Dan Fekete, Sándor P. Becker, Aaron T. |
| contents | We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop off one tile at a time, but it must maintain a single connected configuration at all times.
Becker et al. (CCCG 2025) recently proposed an algorithm that uses histograms as canonical intermediate configurations, guaranteeing performance within a constant factor of the optimal solution if the start and target configuration are well-separated. We implement and evaluate this algorithm, both in a simulated and practical setting, using an inchworm type robot to compare it with two existing heuristic algorithms. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_23333 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Moving Matter: Using a Single, Simple Robot to Reconfigure a Connected Set of Building Blocks Garcia, Javier Friemel, Jonas Kosfeld, Ramin Yannuzzi, Michael Kramer, Peter Rieck, Christian Scheffer, Christian Schmidt, Arne Kube, Harm Biediger, Dan Fekete, Sándor P. Becker, Aaron T. Robotics Computational Geometry Data Structures and Algorithms We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop off one tile at a time, but it must maintain a single connected configuration at all times. Becker et al. (CCCG 2025) recently proposed an algorithm that uses histograms as canonical intermediate configurations, guaranteeing performance within a constant factor of the optimal solution if the start and target configuration are well-separated. We implement and evaluate this algorithm, both in a simulated and practical setting, using an inchworm type robot to compare it with two existing heuristic algorithms. |
| title | Moving Matter: Using a Single, Simple Robot to Reconfigure a Connected Set of Building Blocks |
| topic | Robotics Computational Geometry Data Structures and Algorithms |
| url | https://arxiv.org/abs/2506.23333 |