Locomotion of Metamorphic Robotic System Based on Local Information (Extended Abstract)

摘要

Motivated by the molecular robotics project of Japan, we investigate the problem of designing a distribution locomotion algorithm for metamorphic robotic system consisting of homogeneous modules. The algorithm, which works on each module, must navigate it so that the entire system moves in a predetermined direction. We present an algorithm that moves the system eastward, provided that an initial configuration is monotone. Then we show the outline of its correctness.