Skip to main content
Article thumbnail
Location of Repository

Linear Reconfiguration of Cube-Style Modular Robots

By Greg Aloupis, Sébastien Collette, Mirela Damian, Erik D. Demaine, Stefan Langerman, Suneeta Ramaswami and Stefanie Wuhrer


Abstract. In this paper we propose a novel algorithm that, given a source robot S and a target robot T, reconfigures S into T. Both S and T are robots composed of n atoms arranged in 2 × 2 × 2 metamodules. The reconfiguration involves a total of O(n) atom operations (expand, contract, attach, detach) and is performed in O(n) parallel steps. This improves on previous reconfiguration algorithms [1–3], which require O(n 2) parallel steps. Our algorithm is in place; that is, the reconfiguration takes place within the union of the bounding boxes of the source and target robots. We show that the algorithm can also be implemented in a synchronous, distributed fashion.

Year: 2008
OAI identifier: oai:CiteSeerX.psu:
Provided by: CiteSeerX
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • (external link)
  • (external link)
  • Suggested articles

    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.