Steven Gray

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Reconfiguring chain-type modular robots has been considered a difficult problem scaling poorly with increasing numbers of modules. We address the re-configuration problem for robots in 2D by presenting centralized and decentralized algorithms based on the Carpenter's Rule Theorem [5]. The theorem guarantees the existence of instantaneous collision-free(More)
— Opening and navigating through doors remains a challenging problem, particularly in cluttered environments and for spring-loaded doors. Passing through doors, especially spring-loaded doors, requires making and breaking contacts with the door and preventing the door from closing while passing through. In this work, we present a planning framework that(More)
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