Name
Abstract | ||
|---|---|---|
We prove universal reconfiguration (i.e., reconfiguration between any two robotic systems with the same number of modules) of 2-dimensional lattice-based modular robots by means of a distributed algorithm. To the best of our knowledge, this is the first known reconfiguration algorithm that applies in a general setting to a wide variety of particular modular robotic systems, and holds for both square and hexagonal lattice-based 2-dimensional systems. All modules apply the same set of local rules (in a manner similar to cellular automata), and move relative to each other akin to the sliding-cube model. Reconfiguration is carried out while keeping the robot connected at all times. If executed in a synchronous way, any reconfiguration of a robotic system of $$n$$n modules is done in $$O(n)$$O(n) time steps with $$O(n)$$O(n) basic moves per module, using $$O(1)$$O(1) force per module, $$O(1)$$O(1) size memory and computation per module (except for one module, which needs $$O(n)$$O(n) size memory to store the information of the goal shape), and $$O(n)$$O(n) communication per module. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1007/s10514-015-9421-8 | Autonomous Robots |
Keywords | Field | DocType |
Self-organizing robots,Distributed reconfiguration,Universal reconfiguration | Cellular automaton,Lattice (order),Computer science,Simulation,Parallel computing,Distributed algorithm,Self-reconfiguring modular robot,Modular design,Robot,Control reconfiguration,Computation,Distributed computing | Journal |
Volume | Issue | ISSN |
38 | 4 | 0929-5593 |
Citations | PageRank | References |
6 | 0.43 | 40 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ferran Hurtado | 1 | 744 | 86.37 |
| Enrique Molina | 2 | 6 | 0.43 |
| Suneeta Ramaswami | 3 | 228 | 23.87 |
| Vera Sacristán | 4 | 85 | 7.86 |