Geometric Algorithms for Portable devices

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Due to a change in location, we decided to interrupt the grant halfway through the year. Nonetheless, several of the milestones were achieved, even those planned for 2020 and 2021:-Although the concept of convex hull is well known and studied, its extension to environment with obstacles was never studied. We introduced the problem, showed its complexity and introduced the first algorithm for computing it-We studied the communication protocol for modular robots. Given a configuration of robots, we are interested in them communication so that they can reach another target shape. Although the problem turned out to be PSPACE hard (proof currently under review), we gave a constructive algorithm for the particular case in which you can add 5 helping robots in the exterior.