Choosing Good Paths for Fast Distributed Reconfiguration of Hexagonal Metamorphic Robots

@inproceedings{Walter2002ChoosingGP,
  title={Choosing Good Paths for Fast Distributed Reconfiguration of Hexagonal Metamorphic Robots},
  author={Jennifer E. Walter and Elizabeth M. Tsai and Nancy M. Amato},
  booktitle={ICRA},
  year={2002}
}
The problem addressed is the distributed recon£guration of a metamorphic robot system composed of any number of two dimensional robots (modules) from speci£c initial to speci£c goal con£gurations. The initial con£guration we consider is a straight chain of modules, while the goal con£guration satis£es a simple admissibility condition. Recon£guration of the modules depends on £nding a contiguous path of cells, called a substrate path, that spans the goal con£guration. Modules £ll in this… CONTINUE READING
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