Abstract
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 language | English (US) |
|---|---|
| Pages (from-to) | 441-453 |
| Number of pages | 13 |
| Journal | Proceedings of SPIE - The International Society for Optical Engineering |
| Volume | 4196 |
| Issue number | 1 |
| DOIs | |
| State | Published - Oct 16 2000 |
| Externally published | Yes |
Keywords
- 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