Paper Info
Title
Linear reconfiguration of cube-style modular robots
Abstract
In this paper we propose a novel algorithm that, given a source robot S and a target robot T, reconfigures S into T. Both S and T are robots composed of n atoms arranged in 2x2x2 meta-modules. The reconfiguration involves a total of O(n) atomic operations (expand, contract, attach, detach) and is performed in O(n) parallel steps. This improves on previous reconfiguration algorithms [D. Rus, M. Vona, Crystalline robots: Self-reconfiguration with compressible unit modules, Autonomous Robots 10 (1) (2001) 107-124; S. Vassilvitskii, M. Yim, J. Suh, A complete, local and parallel reconfiguration algorithm for cube style modular robots, in: Proc. of the IEEE Intl. Conf. on Robotics and Automation, 2002, pp. 117-122; Z. Butler, D. Rus, Distributed planning and control for modular robots with unit-compressible modules, Intl. J. Robotics Res. 22 (9) (2003) 699-715, doi:10.1177/02783649030229002], which require O(n^2) parallel steps. Our algorithm is in-place; that is, the reconfiguration takes place within the union of the bounding boxes of the source and target robots. We show that the algorithm can also be implemented in a synchronous, distributed fashion.
Year
DOI
Venue
2007
10.1016/j.comgeo.2008.11.003
Computational Geometry: Theory and Applications
Keywords
DocType
Volume
Self-reconfiguring modular robots,Cubical units,In-place reconfiguration,Lattice reconfiguration,Synchronous distributed module communication
Conference
42
Issue
ISSN
ISBN
6
Computational Geometry: Theory and Applications
3-540-77118-2
Citations 
PageRank 
References 
11
0.86
9
Authors
10
Name
Order
Citations
PageRank
Greg Aloupis120026.50
Sébastien Collette218519.48
Mirela Damian321228.18
Erik D. Demaine44624388.59
Robin Y. Flatland56313.23
Stefan Langerman6831101.66
Joseph O'Rourke71636439.71
Suneeta Ramaswami822823.87
Vera Sacristán9857.86
Stefanie Wuhrer1040534.51