Distributed reconfiguration of metamorphic robot chains

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

Research output: Contribution to journalArticlepeer-review


The problem we address is the distributed reconfiguration of a planar metamorphic robotic system composed of any number of hexagonal modules. After presenting a framework for classifying motion planning algorithms for meta-morphic robotic systems, we describe distributed algorithms for reconfiguring a straight chain of hexagonal modules to any intersecting straight chain configuration. We prove our algorithms are correct, and show that they are either optimal or asymptotically optimal in the number of moves and asymptotically optimal in the time required for parallel reconfiguration.

Original languageEnglish (US)
Pages (from-to)171-189
Number of pages19
JournalDistributed Computing
Issue number2
StatePublished - Aug 2004
Externally publishedYes


  • Distributed reconfiguration
  • Metamorphic robots

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Hardware and Architecture
  • Computer Networks and Communications
  • Computational Theory and Mathematics


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