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
DOI
10.1007/978-3-642-00312-7_27
ISSN
16107438
Rights
©2008 Elsevier B.V. All rights reserved.
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
Comments
Archived as published. Open access article.