Distributed Control for 3D Metamorphosis

Authors:
Mark Yim;Ying Zhang;John Lamping;Eric Mao
Affiliations:
Xerox Palo Alto Research Center, 3333 Coyote Hill Road, Palo Alto, CA 94304, USA. yim@parc.xerox.com;Xerox Palo Alto Research Center, 3333 Coyote Hill Road, Palo Alto, CA 94304, USA. yzhang@parc.xerox.com;Xerox Palo Alto Research Center, 3333 Coyote Hill Road, Palo Alto, CA 94304, USA. lamping@acm.org;Xerox Palo Alto Research Center, 3333 Coyote Hill Road, Palo Alto, CA 94304, USA. ericmao@robotics.stanford.edu
Venue:
Autonomous Robots
Year:
2001

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Abstract

In this paper, we define Proteo as a class of three-dimensional (3D) metamorphic robotic system capable of approximating arbitrary 3D shapes by utilizing repeated modules. Each Proteo module contains embedded sensors, actuators and a controller, and each resides in a 3D grid space. A module can move itself to one of its open neighbor sites under certain motion constraints. Distributed control for the self-reconfiguration of such robots is an interesting and challenging problem. We present a class of distributed control algorithms for the reconfiguration of Proteo robots based on the “goal-ordering” mechanism. Performance results are shown for experiments of these algorithms in a simulation environment, and the properties of these algorithms are analyzed.