arXiv subjects

Andrea W. Richa

Publications and source records attributed to Andrea W. Richa.

7 recordsLinked to original sources

arXiv2019

Simulation of Programmable Matter Systems Using Active Tile-Based Self-Assembly

Self-assembly refers to the process by which small, simple components mix and combine to form complex structures using only local interactions. Designed as a hybrid between tile assembly models and cellular automata, the Tile Automata (TA) model was recently introduced as a platform to help study connections between various models of self-assembly. However, in this paper we present a result in which we use TA to simulate arbitrary systems within the amoebot model, a theoretical model of programmable matter in which the individual components are relatively simple state machines that are able to sense the states of their neighbors and to move via series of expansions and contractions. We show that for every amoebot system, there is a TA system capable of simulating the local information transmission built into amoebot particles, and that the TA "macrotiles" used to simulate its particles are capable of simulating movement (via attachment and detachment operations) while maintaining the necessary properties of amoebot particle systems. The TA systems are able to utilize only the local interactions of state changes and binding and unbinding along tile edges, but are able to fully simulate the dynamics of these programmable matter systems.

cs.ET↗

arXiv2017

Phototactic Supersmarticles

Smarticles, or smart active particles, are small robots equipped with only basic movement and sensing abilities that are incapable of rotating or displacing individually. We study the ensemble behavior of smarticles, i.e., the behavior a collective of these very simple computational elements can achieve, and how such behavior can be implemented using minimal programming. We show that an ensemble of smarticles constrained to remain close to one another (which we call a supersmarticle), achieves directed locomotion toward or away from a light source, a phenomenon known as phototaxing. We present experimental and theoretical models of phototactic supersmarticles that collectively move with a directed displacement in response to light. The motion of the supersmarticle is approximately Brownian, and is a result of chaotic interactions among smarticles. The system can be directed by introducing asymmetries among the individual smarticle's behavior, in our case by varying activity levels in response to light, resulting in supersmarticle biased motion.

cs.RO↗

arXiv2017

Improved Leader Election for Self-Organizing Programmable Matter

We consider programmable matter that consists of computationally limited devices (called particles) that are able to self-organize in order to achieve some collective goal without the need for central control or external intervention. We use the geometric amoebot model to describe such self-organizing particle systems, which defines how particles can actively move and communicate with one another. In this paper, we present an efficient local-control algorithm which solves the leader election problem in O(n) asynchronous rounds with high probability, where n is the number of particles in the system. Our algorithm relies only on local information --- particles do not have unique identifiers, any knowledge of n, or any sort of global coordinate system --- and requires only constant memory per particle.

cs.ET↗

arXiv2016

Universal Coating for Programmable Matter

The idea behind universal coating is to have a thin layer of a specific substance covering an object of any shape so that one can measure a certain condition (like temperature or cracks) at any spot on the surface of the object without requiring direct access to that spot. We study the universal coating problem in the context of self-organizing programmable matter consisting of simple computational elements, called particles, that can establish and release bonds and can actively move in a self-organized way. Based on that matter, we present a worst-case work-optimal universal coating algorithm that uniformly coats any object of arbitrary shape and size that allows a uniform coating. Our particles are anonymous, do not have any global information, have constant-size memory, and utilize only local interactions.

cs.ET↗

arXiv2015

An Algorithmic Framework for Shape Formation Problems in Self-Organizing Particle Systems

Many proposals have already been made for realizing programmable matter, ranging from shape-changing molecules, DNA tiles, and synthetic cells to reconfigurable modular robotics. Envisioning systems of nano-sensors devices, we are particularly interested in programmable matter consisting of systems of simple computational elements, called particles, that can establish and release bonds and can actively move in a self-organized way, and in shape formation problems relevant for programmable matter in those self-organizing particle systems (SOPS). In this paper, we present a general algorithmic framework for shape formation problems in SOPS, and show direct applications of this framework to the problems of having the particle system self-organize to form a hexagonal or triangular shape. Our algorithms utilize only local control, require only constant-size memory particles, and are asymptotically optimal both in terms of the total number of movements needed to reach the desired shape configuration.

cs.ET↗

arXiv2014

Infinite Object Coating in the Amoebot Model

The term programmable matter refers to matter which has the ability to change its physical properties (shape, density, moduli, conductivity, optical properties, etc.) in a programmable fashion, based upon user input or autonomous sensing. This has many applications like smart materials, autonomous monitoring and repair, and minimal invasive surgery. While programmable matter might have been considered pure science fiction more than two decades ago, in recent years a large amount of research has been conducted in this field. Often programmable matter is envisioned as a very large number of small locally interacting computational particles. We propose the Amoebot model, a new model which builds upon this vision of programmable matter. Inspired by the behavior of amoeba, the Amoebot model offers a versatile framework to model self-organizing particles and facilitates rigorous algorithmic research in the area of programmable matter. We present an algorithm for the problem of coating an infinite object under this model, and prove the correctness of the algorithm and that it is work-optimal.

cs.ET↗

arXiv2013

Ameba-inspired Self-organizing Particle Systems

Particle systems are physical systems of simple computational particles that can bond to neighboring particles and use these bonds to move from one spot to another (non-occupied) spot. These particle systems are supposed to be able to self-organize in order to adapt to a desired shape without any central control. Self-organizing particle systems have many interesting applications like coating objects for monitoring and repair purposes and the formation of nano-scale devices for surgery and molecular-scale electronic structures. While there has been quite a lot of systems work in this area, especially in the context of modular self-reconfigurable robotic systems, only very little theoretical work has been done in this area so far. We attempt to bridge this gap by proposing a model inspired by the behavior of ameba that allows rigorous algorithmic research on self-organizing particle systems.

cs.DC↗