Paper by Erik D. Demaine

Reference:
Greg Aloupis, Sébastien Collette, Mirela Damian, Erik D. Demaine, Robin Flatland, Stefan Langerman, Joseph O'Rourke, Suneeta Ramaswami, Vera Sacristán, and Stefanie Wuhrer, “Linear Reconfiguration of Cube-Style Modular Robots”, Computational Geometry: Theory and Applications, volume 42, number 6–7, August 2009, pages 652–663.

Abstract:
In this paper we propose a novel algorithm that, given a source robot S and a target robot T, reconfigures S into T. Both S and T are robots composed of n atoms arranged in 2 × 2 × 2 meta-modules. The reconfiguration involves a total of O(n) atomic operations (expand, contract, attach, detach) and is performed in O(n) parallel steps. This improves on previous reconfiguration algorithms [1, 2, 3], which require O(n2) parallel steps. Our algorithm is in-place; that is, the reconfiguration takes place within the union of the bounding boxes of the source and target robots. We show that the algorithm can also be implemented in a synchronous, distributed fashion.

Comments:
This paper is also available from ScienceDirect.

Length:
The paper is 20 pages.

Availability:
The paper is available in PDF (3178k).
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Related papers:
Crystalline_WAFR2008 (Realistic Reconfiguration of Crystalline (and Telecube) Robots)
Crystalline_ISAAC2008 (Reconfiguration of Cube-Style Modular Robots Using O(log n) Parallel Moves)
Crystalline_ISAAC2007 (Linear Reconfiguration of Cube-Style Modular Robots)
Crystalline_EGC2007 (Linear Reconfiguration of Cube-Style Modular Robots)


See also other papers by Erik Demaine.
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Last updated July 25, 2017 by Erik Demaine.