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Concurrent metamorphosis of hexagonal robot chains into simple connected configurations

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3 Author(s)
J. E. Walter ; Dept. of Comput. Sci., Vassar Coll., Poughkeepsie, NY, USA ; J. L. Welch ; N. M. Amato

The problem addressed is the distributed reconfiguration of a metamorphic robotic system composed of an arbitrary number of two-dimensional hexagonal robots (modules) from specific initial to specific goal configurations. The initial configuration considered is a straight chain of robotic 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. We prove this algorithm correctly identifies admissible goal configurations and finds a "substrate path" within the goal configuration, along which the modules can move to reach their positions in the goal. A second 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.

Published in:

IEEE Transactions on Robotics and Automation  (Volume:18 ,  Issue: 6 )