Introduction to algorithms
Distributed Algorithms
Routing in multi-radio, multi-hop wireless mesh networks
Proceedings of the 10th annual international conference on Mobile computing and networking
Miche: Modular Shape Formation by Self-Disassembly
International Journal of Robotics Research
Million Module March: Scalable Locomotion for Large Self-Reconfiguring Robots
International Journal of Robotics Research
Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization
International Journal of Robotics Research
Self-reconfigurable modular robot M-TRAN: distributed control and communication
Proceedings of the 1st international conference on Robot communication and coordination
A self-reconfigurable communication network for modular robots
Proceedings of the 1st international conference on Robot communication and coordination
Neighbor detection and crosstalk elimination in self-reconfigurable robots
Proceedings of the 1st international conference on Robot communication and coordination
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The problem of designing reliable low-cost communications systems to support decentralized algorithms is a major research challenge in self-reconfiguring modular robotics. In this paper we evaluate a communication system based on ZigBee, a wireless ad-hoc mesh networking standard. We present a 15-node system prototype and results from an experiment of 300 trials that measures system performance on a benchmark task. The benchmark we chose is the connectivity problem - how to maintain connectivity in the module graph during the disconnections and reconnections that occur during reconfiguration. We also provide full implementation details in pseudocode for our connectivity algorithm. Our results show that, despite its inherent scalability limitations, a ZigBee wireless system is feasible as a simple, low-cost communication system for self-reconfiguring modular robots.