Paper by Erik D. Demaine

Greg Aloupis, Nadia Benbernou, Mirela Damian, Erik D. Demaine, Robin Flatland, John Iacono, and Stefanie Wuhrer, “Efficient Reconfiguration of Lattice-Based Modular Robots”, Computational Geometry: Theory and Applications, volume 46, number 8, October 2013, pages 917–928.

See also animations of the 6-arm module.

Currently unavailable. If you are in a rush for copies, contact me.
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Related papers:
MTRAN_Molecube_ECMR2009 (Efficient Reconfiguration of Lattice-Based Modular Robots)
Crystalline_WAFR2008 (Realistic Reconfiguration of Crystalline (and Telecube) Robots)
Crystalline_ISAAC2008 (Reconfiguration of Cube-Style Modular Robots Using O(log n) Parallel Moves)
Crystalline_CGTA (Linear Reconfiguration of Cube-Style Modular Robots)

See also other papers by Erik Demaine.
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Last updated March 21, 2017 by Erik Demaine.