Document Type
Conference Proceeding
Publication Date
3-29-2010
Publication Title
Springer Tracts in Advanced Robotics
Abstract
In this paper we propose novel algorithms for reconfiguring modular robots that are composed of n atoms. Each atom has the shape of a unit cube and can expand/contract each face by half a unit, as well as attach to or detach from faces of neighboring atoms. For universal reconfiguration, atoms must be arranged in 2×2×2 modules. We respect certain physical constraints: each atom reaches at most unit velocity and (via expansion) can displace at most one other atom. We require that one of the atoms can store a map of the target configuration. Our algorithms involve a total of O(n 2) such atom operations, which are performed in O(n) parallel steps. This improves on previous reconfiguration algorithms, which either use O(n 2) parallel steps [8,10,4] or do not respect the constraints mentioned above [1]. In fact, in the setting considered, our algorithms are optimal, in the sense that certain reconfigurations require Ω(n) parallel steps. A further advantage of our algorithms is that reconfiguration can take place within the union of the source and target configurations.
Volume
57
First Page
433
Last Page
447
ISSN
16107438
Rights
©2008 Elsevier B.V. All rights reserved.
Version
Version of Record
Recommended Citation
Aloupis, Greg; Collette, Sébastien; Damian, Mirela; Demaine, Erik D.; El-Khechen, Dania; Flatland, Robin; Langerman, Stefan; O'Rourke, Joseph; Pinciu, Val; Ramaswami, Suneeta; Sacristán, Vera; and Wuhrer, Stefanie, "Realistic Reconfiguration of Crystalline (and Telecube) Robots" (2010). Computer Science: Faculty Publications, Smith College, Northampton, MA.
https://scholarworks.smith.edu/csc_facpubs/186