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dc.contributor.authorWuhrer, Stefanie
dc.contributor.authorSacristán Adinolfi, Vera
dc.contributor.authorRamaswami, Suneeta
dc.contributor.authorPinciu, Val
dc.contributor.authorAloupis, Greg
dc.contributor.authorCollette, Sébastien
dc.contributor.authorDamian, Mirela
dc.contributor.authorDemaine, Erik D.
dc.contributor.authorEl-Khechen, Dania
dc.contributor.authorFlatland, Robin
dc.contributor.authorLangerman, Stefan
dc.contributor.authorO'Rourke, Joseph
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Matemàtica Aplicada II
dc.date.accessioned2010-10-18T15:09:38Z
dc.date.available2010-10-18T15:09:38Z
dc.date.created2008
dc.date.issued2008
dc.identifier.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.
dc.identifier.isbn978-3-642-00311-0
dc.identifier.urihttp://hdl.handle.net/2117/9774
dc.description.abstractIn 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.extent15 p.
dc.language.isoeng
dc.publisherCIMAT
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Matemàtiques i estadística::Geometria::Geometria computacional
dc.subject.lcshAlgorithms
dc.subject.lcshAtoms
dc.subject.lcshRobotics
dc.subject.lcshComputational geometry
dc.titleRealistic reconfiguration of crystalline (and telecube) robots
dc.typeConference report
dc.subject.lemacAlgorismes
dc.subject.lemacÀtoms
dc.subject.lemacRobòtica
dc.subject.lemacGeometria computacional
dc.contributor.groupUniversitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta
dc.relation.publisherversionhttp://parasol.cs.tamu.edu/wafr08/papers/wafr08-aloupis.pdf
dc.rights.accessOpen Access
drac.iddocument2329669
dc.description.versionPostprint (published version)
upcommons.citation.authorAloupis, 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.
upcommons.citation.contributorInternational Workshop on the Algorithmic Foundations of Robotics
upcommons.citation.pubplaceGuanajuato
upcommons.citation.publishedtrue
upcommons.citation.publicationName8th International Workshop on the Algorithmic Foundations of Robotics
upcommons.citation.startingPage433
upcommons.citation.endingPage447


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