标题： 移动物质：使用一个简单机器人重新配置连接的积木集合 显示英文标题

标题： Moving Matter: Using a Single, Simple Robot to Reconfigure a Connected Set of Building Blocks

摘要： 我们实现了并评估了不同的方法，用于将一个连接的瓷砖排列重新配置为所需的的目标形状，使用一个可以在瓷砖结构上移动的单个主动机器人。 该机器人一次可以拾起、携带或放下一个瓷砖，但必须始终保持单一的连接配置。 Becker 等人（CCCG 2025）最近提出了一种算法，该算法使用直方图作为规范的中间配置，如果起始配置和目标配置是良好分离的，则保证性能在最优解的常数因子范围内。 我们在模拟和实际环境中实现了并评估了该算法，使用一种蚯蚓类型的机器人将其与两种现有的启发式算法进行比较。 显示英文摘要

摘要： 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.