Paper by Erik D. Demaine
- 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”, in Proceedings of the 18th Annual International Symposium on Algorithms and Computation (ISAAC 2007), December 17–19, 2007, pages 208–219.
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) atom operations (expand, contract,
attach, detach) and is performed in O(n) parallel steps. This
improves on previous reconfiguration algorithms [1–3], 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.
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- Related papers:
- Crystalline_CGTA (Linear Reconfiguration of Cube-Style Modular Robots)
- Crystalline_ISAAC2008 (Reconfiguration of Cube-Style Modular Robots Using O(log n) Parallel Moves)
- Crystalline_EGC2007 (Linear Reconfiguration of Cube-Style Modular Robots)
See also other papers by Erik Demaine.
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