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) 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.
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© 2007 Springer-Verlag Berlin Heidelberg
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Aloupis, G. et al. (2007). Linear Reconfiguration of Cube-Style Modular Robots. In: Tokuyama, T. (eds) Algorithms and Computation. ISAAC 2007. Lecture Notes in Computer Science, vol 4835. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77120-3_20
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DOI: https://doi.org/10.1007/978-3-540-77120-3_20
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77118-0
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