Distributed reconfiguration of metamorphic robot chains

Abstract

The problem we address is the distributed reconfiguration of a metamorphic robotic system composed of any number of two dimensional hexagonal modules from specific initial to specific goal configurations. We present a distributed algorithm for reconfiguring a straight chain of hexagonal modules at one location to any intersecting straight chain configuration at some other location in the plane. We prove our algorithm is correct, and show that it is either optimal or asymptotically optimal in the number of moves and asymptotically optimal in the time required for parallel reconfiguration. We then consider the distributed reconfiguration of straight chains of modules to a more general class of goal configurations.