OTHER
On the general reconfiguration problem for expanding cube style modular robots
S. Vassilvitskii, Jeremy Kubica, Eleanor Rieffel, J.W. Suh, Mark Yim
- Year
- 2003
- Citations
- 51
Abstract
We discuss the theoretical limitations for reconfiguration of metamorphic robots made up of Telecubes, six degree of freedom cube shaped modules currently being developed at Xerox PARC. We show that by using meta-modules composed of 8 individual modules as a backbone for building the desired shape, we can establish completeness for the reconfiguration as well as time and space bounds for the process. Finally we present several open problems in the field of reconfiguration.
Keywords
Control reconfigurationModular designRobotCube (algebra)Self-reconfiguring modular robotComputer scienceCompleteness (order theory)Distributed computingTheoretical computer scienceMobile robot
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