Easy impossibility proofs for distributed consensus problems
Distributed Computing
Using backprojections for fine motion planning with uncertainty
International Journal of Robotics Research
The complexity of elementary algebra and geometry
Journal of Computer and System Sciences
Mechanics and planning of manipulator pushing operations
International Journal of Robotics Research
Complexity of deciding Tarski algebra
Journal of Symbolic Computation
SCG '88 Proceedings of the fourth annual symposium on Computational geometry
Error detection and recovery in robotics
Error detection and recovery in robotics
Journal of the ACM (JACM)
Information invariants for distributed manipulation
International Journal of Robotics Research
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Introduction To Automata Theory, Languages, And Computation
Introduction To Automata Theory, Languages, And Computation
Computational Methods for Design and Control of MEMS Micromanipulator Arrays
IEEE Computational Science & Engineering
Moving furniture with teams of autonomous robots
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
On the capability of finite automata in 2 and 3 dimensional space
SFCS '77 Proceedings of the 18th Annual Symposium on Foundations of Computer Science
On the power of the compass (or, why mazes are easier to search than graphs)
SFCS '78 Proceedings of the 19th Annual Symposium on Foundations of Computer Science
Complexity of the mover's problem and generalizations
SFCS '79 Proceedings of the 20th Annual Symposium on Foundations of Computer Science
On information invariants in robotics
Artificial Intelligence
| Hi-index | 0.00 |
Robotics researchers will be aware of Dexter Kozen's contributions to algebraic algorithms, which have enabled the widespread use of the theory of real closed fields and polynomial arithmetic for motion planning. However, Dexter has also made several important contributions to the theory of information invariants, and produced some of the most profound results in this field. These are first embodied in his 1978 paper On the Power of the Compass , with Manuel Blum. This work has had a wide impact in robotics and nanoscience. Starting with Dexter's insights, robotics researchers have explored the problem of determining the information requirements to perform robot tasks, using the concept of information invariants. This represents an attempt to characterize a family of complicated and subtle issues concerned with measuring robot task complexity. In this vein, several measures have been proposed [14] to measure the information complexity of a task: (a) How much internal state should the robot retain? (b) How many cooperating robots are required, and how much communication between them is necessary? (c) How can the robot change (side-effect) the environment in order to record state or sensory information to perform a task? (d) How much information is provided by sensors? and (e) How much computation is required by the robot? We have considered how one might develop a kind of "calculus" on (a) --- (e) in order to compare the power of sensor systems analytically. To this end, information invariants is a theory whereby one sensor can be "reduced" to another (much in the spirit of computation-theoretic reductions), by adding, deleting, and reallocating (a) --- (e) among collaborating autonomous robots. As we show below, this work steers using Dexter's compass.