In this paper we propose novel algorithms for reconfiguring modular robots that are composed of n atoms. Each atom has the shape of a unit cube and can expand/contract each face by half a unit, as well as attach to or detach from faces of neighboring atoms. For universal reconfiguration, atoms must be arranged in 2x2x2 modules. We respect certain physical constraints: each atom reaches at most constant velocity and can displace at most a constant number of other atoms. We assume that one of the atoms has access to the coordinates of atoms in the target configuration. Our algorithms involve a total of O(n2) atom operations, which are performed in O(n) parallel steps. This improves on previous recon guration algorithms, which either use O(n2) parallel steps [Rus and Vona, 2001, Vassilvitskii et al., 2002, Butler and Rus, 2003] or do not respect the constraints men- tioned above [Aloupis et al., 2009b]. In fact, in the setting considered, our algorithms are optimal. A further advantage of our algorithms is that reconfiguration can take place within the union of the source and target configuration space, and only requires local communication. ; Postprint (published version)


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    Titel :

    Efficient constant-velocity reconfiguration of crystalline robots


    Beteiligte:
    Wuhrer, S. (Autor:in) / Sacristán Adinolfi, Vera (Autor:in) / Ramaswami, Suneeta (Autor:in) / Pinciu, Val (Autor:in) / Aloupis, G. (Autor:in) / Collette, S. (Autor:in) / Damian, M. (Autor:in) / Demaine, E. D. (Autor:in) / El-Khechen, Dania (Autor:in) / Flatland, R. (Autor:in)

    Erscheinungsdatum :

    01.01.2011



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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