Realistic reconfiguration of crystalline (and telecube) robots
Document typeConference report
Rights accessOpen Access
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 x 2 x 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 con guration. Our algorithms involve a total of O(n²) such atom operations, which are performed in O(n) parallel steps. This improves on previous reconfiguration algorithms, which either use O(n²) parallel steps [7, 9, 4] or do not respect the constraints mentioned above . 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.
CitationAloupis, G. [et al.]. Realistic reconfiguration of crystalline (and telecube) robots. A: International Workshop on the Algorithmic Foundations of Robotics. "8th International Workshop on the Algorithmic Foundations of Robotics". Guanajuato: CIMAT, 2008, p. 433-447.