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Efficient constant-velocity reconfiguration of crystalline robots
dc.contributor.author | Wuhrer, S. |
dc.contributor.author | Sacristán Adinolfi, Vera |
dc.contributor.author | Ramaswami, Suneeta |
dc.contributor.author | Pinciu, Val |
dc.contributor.author | Aloupis, G. |
dc.contributor.author | Collette, S. |
dc.contributor.author | Damian, M. |
dc.contributor.author | Demaine, E. D. |
dc.contributor.author | El-Khechen, Dania |
dc.contributor.author | Flatland, R. |
dc.contributor.author | Langerman, S. |
dc.contributor.author | O'Rourke, J. |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada II |
dc.date.accessioned | 2011-02-16T11:12:49Z |
dc.date.available | 2011-02-16T11:12:49Z |
dc.date.created | 2011 |
dc.date.issued | 2011 |
dc.identifier.citation | Aloupis, G. [et al.]. Efficient constant-velocity reconfiguration of crystalline robots. "Roboti", 2011, vol. 29, núm. 1, p. 59-71. |
dc.identifier.issn | 0263-5747 |
dc.identifier.uri | http://hdl.handle.net/2117/11403 |
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 2x2x2 modules. We respect certain physical constraints: each atom reaches at most constant velocity and can displace at most a constant number of other atoms. We assume that one of the atoms has access to the coordinates of atoms in the target configuration. Our algorithms involve a total of O(n2) atom operations, which are performed in O(n) parallel steps. This improves on previous recon guration algorithms, which either use O(n2) parallel steps [Rus and Vona, 2001, Vassilvitskii et al., 2002, Butler and Rus, 2003] or do not respect the constraints men- tioned above [Aloupis et al., 2009b]. In fact, in the setting considered, our algorithms are optimal. A further advantage of our algorithms is that reconfiguration can take place within the union of the source and target configuration space, and only requires local communication. |
dc.format.extent | 13 p. |
dc.language.iso | eng |
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::Informàtica::Robòtica |
dc.subject | Àrees temàtiques de la UPC::Matemàtiques i estadística::Matemàtica aplicada a les ciències |
dc.subject.lcsh | Robotics |
dc.subject.lcsh | Mobile robots |
dc.subject.lcsh | Algorithms |
dc.title | Efficient constant-velocity reconfiguration of crystalline robots |
dc.type | Article |
dc.subject.lemac | Robòtica |
dc.subject.lemac | Algorismes |
dc.subject.lemac | Robots mòbils |
dc.contributor.group | Universitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta |
dc.identifier.doi | 10.1017/S026357471000072X |
dc.relation.publisherversion | http://journals.cambridge.org/repo_A79bxW5d |
dc.rights.access | Open Access |
local.identifier.drac | 4963154 |
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.publicationName | Roboti |
local.citation.volume | 29 |
local.citation.number | 1 |
local.citation.startingPage | 59 |
local.citation.endingPage | 71 |
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