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dc.contributor.authorAloupis, Greg
dc.contributor.authorCollette, Sébastien
dc.contributor.authorDemaine, Erik D.
dc.contributor.authorLangerman, Stefan
dc.contributor.authorSacristán Adinolfi, Vera
dc.contributor.authorWuhrer, Stefanie
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Matemàtica Aplicada II
dc.identifier.citationAloupis, G. [et al.]. Reconfiguration of cube-style modular robots using O(logn) parallel moves. A: International Symposium on Algorithms and Computation. "19th International Symposium on Algorithms and Computation". Gold Cost: Lecture Notes in Computer Science LNCS 5369, Springer-Verlag, 2008, p. 342-353.
dc.description.abstractWe consider a model of reconfigurable robot, introduced and prototyped by the robotics community. The robot consists of independently manipulable unit-square atoms that can extend/contract arms on each side and attach/detach from neighbors. The optimal worst-case number of sequential moves required to transform one connected configuration to another was shown to be Θ(n) at ISAAC 2007. However, in principle, atoms can all move simultaneously. We develop a parallel algorithm for reconfiguration that runs in only O(log n) parallel steps, although the total number of operations increases slightly to Θ(n log n). The result is the first (theoretically) almost-instantaneous universally reconfigurable robot built from simple units.
dc.format.extent12 p.
dc.publisherLecture Notes in Computer Science LNCS 5369, Springer-Verlag
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Matemàtiques i estadística::Geometria::Geometria computacional
dc.subject.lcshParallel algorithms
dc.subject.lcshComputational geometry
dc.titleReconfiguration of cube-style modular robots using O(logn) parallel moves
dc.typeConference report
dc.subject.lemacAlgorismes paral·lels
dc.subject.lemacGeometria computacional
dc.contributor.groupUniversitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta
dc.rights.accessRestricted access - publisher's policy
dc.description.versionPostprint (published version)
local.citation.authorAloupis, G.; Collette, S.; Demaine, E.D.; Langerman, S.; Sacristán, V.; Wuhrer, S.
local.citation.contributorInternational Symposium on Algorithms and Computation
local.citation.pubplaceGold Cost
local.citation.publicationName19th International Symposium on Algorithms and Computation

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Attribution-NonCommercial-NoDerivs 3.0 Spain
Llevat que s'hi indiqui el contrari, els continguts d'aquesta obra estan subjectes a la llicència de Creative Commons : Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya