Distributed Control for 3D Metamorphosis

  title={Distributed Control for 3D Metamorphosis},
  author={Mark Yim and Ying Zhang and John Lamping and Eric Mao},
  journal={Auton. Robots},
In this paper, we define Proteo as a class of three-dimensional (3D) metamorphic robotic system capable of approximating arbitrary 3D shapes by utilizing repeated modules. Each Proteo module contains embedded sensors, actuators and a controller, and each resides in a 3D grid space. A module can move itself to one of its open neighbor sites under certain motion constraints. Distributed control for the self-reconfiguration of such robots is an interesting and challenging problem. We present a… CONTINUE READING
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