A Distributed Algorithm for a Reconfigurable Modular Surface

A distributed algorithm is proposed in order to control block motion of a reconfigurable micro-electro-mechanical modular surface. The modular surface is designed to convey fragile and tiny micro-parts. The distributed algorithm solves a discrete trajectory optimization problem. In particular, the algorithm computes the shortest path between two points of the modular surface using a strategy based on minimum hop count. The proposed method based on distributed asynchronous iterative elections is scalable.