Linear reconfiguration of cube-style modular robots
Name
Aloupis-2009-Linear reconfiguration of cube-style modular robots.pdf
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Checksum (MD5)
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Author(s)
Demaine, Erik D.
Aloupis, Greg
Collette, Sebastien
Damian, Mirela
Langerman, Stefan
O'Rourke, Joseph
Ramaswami, Suneeta
Wuhrer, Stefanie
Date Issued
August 2009
Journal
Computational Geometry
Publisher
Elsevier
Citation
Aloupis, Greg et al. “Linear reconfiguration of cube-style modular robots☆.” Computational Geometry 42.6-7 (2009): 652-663. © 2008 Elsevier B.V.
Version
Final published version
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 2 × 2 × 2 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[superscript 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.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1016/j.comgeo.2008.11.003
