16 October 2000 Distributed reconfiguration of hexagonal metamorphic robots in two dimensions
Author Affiliations +
Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403743
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States
The problem addressed in the distributed reconfiguration of a metamorphic robotic system composed of any number of two dimensional hexagonal modules from specific initial to specific goal configurations. The initial configuration considered is a straight chain of modules, while the goal configurations considered satisfy a more general admissibility condition. A centralized algorithm is described for determining whether an arbitrary goal configuration is admissible. The main result of the paper is a distributed algorithm for reconfiguring a straight chain into an admissible goal configuration. Different heuristics are proposed to improve the performance of the reconfiguration algorithm and simulation results demonstrate the use of these heuristics.
© (2000) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jennifer E. Walter, Jennifer E. Walter, Jennifer L. Welch, Jennifer L. Welch, Nancy M. Amato, Nancy M. Amato, } "Distributed reconfiguration of hexagonal metamorphic robots in two dimensions", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403743; https://doi.org/10.1117/12.403743


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