Distributed reconfiguration of metamorphic robot chains

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

Research output: Contribution to conferencePaperpeer-review


The problem we address 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. We present a distributed algorithm for reconfiguring a straight chain of hexagonal modules at one location to any intersecting straight chain configuration at some other location in the plane. We prove our algorithm is correct, and show that it is either optimal or asymptotically optimal in the number of moves and asymptotically optimal in the time required for parallel reconfiguration. We then consider the distributed reconfiguration of straight chains of modules to a more general class of goal configurations.

Original languageEnglish (US)
Number of pages10
StatePublished - 2000
Externally publishedYes
Event19th Annual ACM Symposium on Principles of Distributed Computing - Portland, OR, USA
Duration: Jul 16 2000Jul 19 2000


Conference19th Annual ACM Symposium on Principles of Distributed Computing
CityPortland, OR, USA

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Computer Networks and Communications


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