Distributed reconfiguration of metamorphic robot chains Academic Article

abstract

• The problem we address is the distributed reconfiguration of a planar metamorphic robotic system composed of any number of hexagonal modules. After presenting a framework for classifying motion planning algorithms for meta-morphic robotic systems, we describe distributed algorithms for reconfiguring a straight chain of hexagonal modules to any intersecting straight chain configuration. We prove our algorithms are correct, and show that they are either optimal or asymptotically optimal in the number of moves and asymptotically optimal in the time required for parallel reconfiguration.

authors

• Amato, Nancy
• Welch, Jennifer

published proceedings

• DISTRIBUTED COMPUTING

author list (cited authors)

• Walter, J. E., Welch, J. L., & Amato, N. M.

citation count

• 39

complete list of authors

• Walter, JE||Welch, JL||Amato, NM

publication date

• January 2004

publisher

• Springer Nature  Publisher

published in

• Distributed Computing  Journal

keywords

• Distributed Reconfiguration
• Metamorphic Robots

Digital Object Identifier (DOI)

• 10.1007/s00446-003-0103-y

start page

• 171

end page

• 189

volume

• 17

issue

• 2

URL

• http://dx.doi.org/10.1007/s00446-003-0103-y