Motion synthesis for the self-reconfiguring molecule

@inproceedings{Kotay1998MotionSF,
  title={Motion synthesis for the self-reconfiguring molecule},
  author={Keith Kotay and Daniela Rus},
  booktitle={IROS},
  year={1998}
}
In this paper we present a geometric approach to specifying and planning the motion of robotic Molecules on a substrate of Molecules in O(n) time, where n is the number of Molecules in the substrate. We describe a language for specifying the Molecule motion. We give algorithms for performing global translations, rotations, and stacking of Molecular structures. We show that these motions are sufficient to guarantee certain classes of motion for Molecular structures. We also examine a geometric… CONTINUE READING
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