Distributed reconfiguration of metamorphic robot chains

Authors:
Jennifer E. Walter;Jennifer L. Welch;Nancy M. Amato
Affiliations:
Department of Computer Science, Vassar College, Poughkeepsie, NY;Department of Computer Science, Texas A&M University, College Station, TX;Department of Computer Science, Texas A&M University, College Station, TX
Venue:
Distributed Computing
Year:
2004

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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 metamorphic 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.