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Realistic reconfiguration of crystalline (and telecube) robots
dc.contributor.author | Wuhrer, Stefanie |
dc.contributor.author | Sacristán Adinolfi, Vera |
dc.contributor.author | Ramaswami, Suneeta |
dc.contributor.author | Pinciu, Val |
dc.contributor.author | Aloupis, Greg |
dc.contributor.author | Collette, Sébastien |
dc.contributor.author | Damian, Mirela |
dc.contributor.author | Demaine, Erik D. |
dc.contributor.author | El-Khechen, Dania |
dc.contributor.author | Flatland, Robin |
dc.contributor.author | Langerman, Stefan |
dc.contributor.author | O'Rourke, Joseph |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada II |
dc.date.accessioned | 2010-10-18T15:09:38Z |
dc.date.available | 2010-10-18T15:09:38Z |
dc.date.created | 2008 |
dc.date.issued | 2008 |
dc.identifier.citation | Aloupis, 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. |
dc.identifier.isbn | 978-3-642-00311-0 |
dc.identifier.uri | http://hdl.handle.net/2117/9774 |
dc.description.abstract | 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 [1]. 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. |
dc.format.extent | 15 p. |
dc.language.iso | eng |
dc.publisher | CIMAT |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Matemàtiques i estadística::Geometria::Geometria computacional |
dc.subject.lcsh | Algorithms |
dc.subject.lcsh | Atoms |
dc.subject.lcsh | Robotics |
dc.subject.lcsh | Computational geometry |
dc.title | Realistic reconfiguration of crystalline (and telecube) robots |
dc.type | Conference report |
dc.subject.lemac | Algorismes |
dc.subject.lemac | Àtoms |
dc.subject.lemac | Robòtica |
dc.subject.lemac | Geometria computacional |
dc.contributor.group | Universitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta |
dc.relation.publisherversion | http://parasol.cs.tamu.edu/wafr08/papers/wafr08-aloupis.pdf |
dc.rights.access | Open Access |
local.identifier.drac | 2329669 |
dc.description.version | Postprint (published version) |
local.citation.author | Aloupis, G.; Collette, S.; Damian, M.; Demaine, E.D.; El-Khechen, D.; Flatland, R.; Langerman, S.; O'Rourke, J.; Pinciu, V.; Ramaswami, S.; Sacristán, V.; Wuhrer, S. |
local.citation.contributor | International Workshop on the Algorithmic Foundations of Robotics |
local.citation.pubplace | Guanajuato |
local.citation.publicationName | 8th International Workshop on the Algorithmic Foundations of Robotics |
local.citation.startingPage | 433 |
local.citation.endingPage | 447 |