Distributed reconfiguration of hexagonal metamorphic robots in two dimensions
Additional Document Info
The problem addressed is the distributed reconfiguration of a metamorphic robotic system composed of any number of two dimensional hexagonal modules from specific initial to specific goal configurations. The initial configuration considered is a straight chain of modules, while the goal configurations considered satisfy a more general admissibility condition. A centralized algorithm is described for determining whether an arbitrary goal configuration is admissible. The main result of the paper is a distributed algorithm for reconfiguring a straight chain into an admissible goal configuration. Different heuristics are proposed to improve the performance of the reconfiguration algorithm and simulation results demonstrate the use of these heuristics. 2000 SPIE.
name of conference
Sensor Fusion and Decentralized Control in Robotic Systems III