单个机器人通过移动积木块，实现连通结构的高效重配置。
Moving Matter: Using a Single, Simple Robot to Reconfigure a Connected Set of Building Blocks
- 采用直方图作为中间标准形态，确保连通性并逼近最优解。
- 在模拟与实物实验中，性能优于两种启发式算法。
- 适合对机器人路径规划和模块化系统设计感兴趣的读者。
我们实现了并评估了多种方法，用于将一组连通排列的积木块重新配置为期望的目标形状，仅使用一个可在积木结构上移动的主动机器人。该机器人可一次拾取、携带或放下一块积木，但必须始终保持整体连通。Becker 等人（CCCG 2025）最近提出了一种算法，利用直方图作为规范中间配置，在起始与目标构型充分分离时，保证性能不超过最优解的常数倍。本文在模拟与实际场景中实现了该算法，并使用一种类似尺蠖的机器人，与两种现有启发式算法进行了对比评估。
原文摘要 · Abstract (English)
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.
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