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.
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