Linear reconfiguration of cube-style modular robots.
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 2 x 2 x 2 meta-modules. The reconfiguration involves a total of O(n) atom operations (expand, contract, attach, detach) and is performed in O(n) parallel steps. This improves on previous reconfiguration algorithms [1, 2, 3], 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.
|Main Author:||Aloupis, Greg.|
|Other Authors:||Collette, Sebastien., Damian, Mirela., Demaine, Erik D., Flatland, Robin., Langerman, Stefan., O'Rourke, Joseph., Ramaswami, Suneeta., Sacristan, Vera., Wuhrer, Stefanie.|