Distributed reconfiguration of hexagonal metamorphic robots in two dimensions

Jennifer E. Walter, Jennifer L. Welch, Nancy M. Amato

Research output: Contribution to journalArticlepeer-review


The problem addressed is the distributed reconfiguration of a metamorphic robotic system composed of any number of two dimensional hexagonal modules from specific initial to specific goal configurations. The initial configuration considered is a straight chain of 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. The main 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.

Original languageEnglish (US)
Pages (from-to)441-453
Number of pages13
JournalProceedings of SPIE - The International Society for Optical Engineering
Issue number1
StatePublished - Oct 16 2000
Externally publishedYes


  • Distributed reconfiguration
  • Metamorphic robots

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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