On the General Reconfiguration Problem for Expanding Cube Style Modular Robots

@inproceedings{Vassilvitskii2002OnTG,
  title={On the General Reconfiguration Problem for Expanding Cube Style Modular Robots},
  author={Sergei Vassilvitskii and Jeremy Kubica and Eleanor G. Rieffel and John W. Suh and Mark Yim},
  booktitle={ICRA},
  year={2002}
}
We discuss the theoretical limitations for reconfiguration of metamorphic robots made up of Telecubes, six degree of freedom cube shaped modules currently being developed at Xerox PARC. We show that by using metamodules composed of 8 individual modules as a backbone for building the desired shape, we can establish completeness for the reconfiguration as well as time and space bounds for the process. Finally we present several open problems in the field of reconfiguration.