Theses and Dissertations

Date of Award


Document Type


Degree Name

Master of Science (MS)


Computer Science

First Advisor

Dr. Tim Wylie

Second Advisor

Dr. Robert Schweller

Third Advisor

Dr. Bin Fu


This thesis focuses on the assembly of robotic swarms that move according to some global signal in a model called the “tilt” model. The model consists of a 2D board that contain open and blocked spaces, along with tiles or polyominoes that move toward a signaled cardinal direction. We look at two variations of this model called the single-step and full-tilt model, where the elements move single distances or maximally, respectively, when a signal is send. We show different methods of shape construction, defining board configurations that are universal for a set of shapes. Afterwards, we analyze different computational problems that arise from the tilt model in the latter chapters of this thesis. This thesis consists of published work in algorithmic and computational complexity conferences, along with new material that improve upon old contributions.


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