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— Modular robots consist of many small units that attach together and can perform local motions. By combining these motions, we can achieve a reconfiguration of the global shape. The term modular comes from the idea of grouping together a fixed number of units into a module, which behaves as a larger individual component. Recently, a fair amount of research(More)
Let S and T be two sets of points with total cardinality n. The minimum-cost many-to-many matching problem matches each point in S to at least one point in T and each point in T to at least one point in S, such that sum of the matching costs is minimized. Here we examine the special case where both S and T lie on the line and the cost of matching s ∈ S to t(More)
It is a standing open question to decide whether the Yao-Yao structure for unit disk graphs (UDGs) is a length spanner of not. This question is highly relevant to the topology control problem for wireless ad hoc networks. In this paper we make progress towards resolving this question by showing that the Yao-Yao structure is a length spanner for UDGs of(More)
For a set of points in the plane and a fixed integer k > 0, the Yao graph Yk partitions the space around each point into k equiangular cones of angle &thetas; = 2π/k, and connects each point to a nearest neighbor in each cone. It is known for all Yao graphs, with the sole exception of Y5, whether or not they are geometric spanners. In this paper we(More)
A collection of 89 Vibrio cholerae O1 strains, isolated in Romania between 1977 and 1994, and 6 strains from the Republic of Moldavia, was characterized by ribotyping, toxin gene restriction pattern (toxinogenotype) and distribution of cholera toxin gene (ctx), accessory toxin gene (ace) and zonula occludens toxin gene (zot). After Bg/I endonuclease(More)