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The problem we address is the distributed reconfig-uration of a planar metamorphic robotic system composed of any number of hexagonal modules. After presenting a framework for classifying motion planning algorithms for meta-morphic robotic systems, we describe distributed algorithms for reconfiguring a straight chain of hexagonal modules to any intersecting(More)
An algorithm for electing a leader in an asynchronous network with dynamically changing communication topology is presented. The algorithm ensures that, no matter what pattern of topology changes occur, if topology changes cease, then eventually every connected component contains a unique leader. The algorithm combines ideas from the Temporally Ordered(More)
— The problem addressed is the distributed re-configuration of a metamorphic robotic system composed of an arbitrary number of two dimensional hexagonal robots (modules) from specific initial to specific goal configurations. The initial configuration considered is a straight chain of robotic modules, while the goal configurations considered satisfy a more(More)
The problem addressed is the distributed reconfiguration of a meta-morphic robot system composed of any number of two dimensional robots (modules) from specific initial to specific goal configurations. The initial configuration we consider is a straight chain of modules, while the goal configuration satisfies a simple admissibil-ity condition.(More)
The problem addressed is the distributed reconfiguration of a system of hexagonal metamorphic robots (modules) from an initial straight chain to a goal configuration that satisfies a simple admissibility condition. Our reconfiguration strategy depends on finding a contiguous path of cells that spans the goal configuration and over which modules can move(More)
A fault-tolerant distributed mutual exclusion algorithm that adjusts to node mobility is presented, along with proof of correct-ness and simulation results. The algorithm requires nodes to communicate with only their current neighbors, making it well-suited to the ad hoc environment. Experimental results indicate that adaptation to mobility can improve(More)
— The problem addressed is the distributed recon-figuration of a metamorphic robot system composed of any number of two dimensional robots (modules). The initial configuration we consider is a straight chain of modules, while the goal configuration satisfies a simple admissibility condition. Our reconfiguration strategy depends on finding a contiguous path(More)
The problem addressed is reconfiguration planning for a metamorphic robotic system composed of any number of hexagonal robots when a single obstacle with multiple indentations or "pockets" is embedded in the goal environment. We extend our earlier work on filling a single pocket in an obstacle to the case where the obstacle surface may contain multiple(More)