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Distributed Tunneling Reconfiguration of Sliding Cubic Modular Robots in Severe Space Requirements

  • Hiroshi KawanoEmail author
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 9)

Abstract

This paper studies a tunneling-based reconfiguration algorithm for cubic modular robots. Tunneling based reconfigurations have advantages in severe space requirements. This is because a tunneling modular robot only uses spaces occupied by the start and goal configurations. However, previously proposed methods have a limitation on the arrangement of start and goal configurations, in which the overlapped part between the start and goal configurations must be connected. We propose a tunneling reconfiguration algorithm that removes the limitation and is available for cases with multi-overlapped parts between the start and goal configurations. The proposed algorithm uses a three-dimensional 2 × 2 × 2 meta-module to maintain the connectivity and mobility of the robot structure. We implement the algorithm in a distributed form. We prove the completeness of the proposed reconfiguration algorithm for assumed robot structures. We examine the proposed tunneling algorithm by simulation.

Keywords

Cubic modular robots Reconfiguration algorithm Distributed robots 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.NTT CorporationKanagawaJapan

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