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Linear Reconfiguration of Cube-Style Modular Robots Greg Aloupis
 

Summary: Linear Reconfiguration of Cube-Style Modular Robots
Greg Aloupis
S´ebastien Collette
Mirela Damian
Erik D. Demaine§
Robin Flatland¶
Stefan Langerman Joseph O'Rourke
Suneeta Ramaswami
Vera Sacrist´an
Stefanie Wuhrer§§§§
Abstract
In this paper we propose a novel algorithm for both contracting and expanding cube-style mod-
ular robots which reconfigures any given source robot composed of n atoms into any given target
robot with O(n) basic actions, improving on previous O(n2
) algorithms. During reconfiguration,
the robot forms one connected component at all times, and the reconfiguration takes place within
the union of the bounding boxes of the initial and final robot configurations. The algorithm can
be implemented using distributed control and allowing massive simultaneous parallel moves of the
atoms.
1 Introduction

  

Source: Aloupis, Greg - Département d'Informatique, Université Libre de Bruxelles
Demaine, Erik - Computer Science and Artificial Intelligence Laboratory & Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (MIT)

 

Collections: Computer Technologies and Information Sciences; Mathematics