Linear Reconfiguration of Cube-Style Modular Robots

  • Greg Aloupis
  • Sébastien Collette
  • Mirela Damian
  • Erik D. Demaine
  • Robin Flatland
  • Stefan Langerman
  • Joseph O’Rourke
  • Suneeta Ramaswami
  • Vera Sacristán
  • Stefanie Wuhrer
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4835)

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(n2) 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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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Greg Aloupis
    • 1
  • Sébastien Collette
    • 2
  • Mirela Damian
    • 3
  • Erik D. Demaine
    • 4
  • Robin Flatland
    • 5
  • Stefan Langerman
    • 6
  • Joseph O’Rourke
    • 7
  • Suneeta Ramaswami
    • 8
  • Vera Sacristán
    • 9
  • Stefanie Wuhrer
    • 10
  1. 1.Université Libre de Bruxelles, Belgique 
  2. 2.Université Libre de Bruxelles, Belgique 
  3. 3.Villanova University, VillanovaUSA
  4. 4.Massachusetts Institute of Technology, CambridgeUSA
  5. 5.Siena College, Loudonville, N.Y.USA
  6. 6.Université Libre de Bruxelles, Belgique 
  7. 7.Smith College, NorthamptonUSA
  8. 8.Rutgers University, CamdenUSA
  9. 9.Universitat Politècnica de Catalunya, BarcelonaSpain
  10. 10.Carleton University, OttawaCanada

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